pytransform3d.rotations.matrix_from

pytransform3d.rotations.matrix_from(R=None, a=None, q=None, e_xyz=None, e_zyx=None)[source]

Compute rotation matrix from another representation.

Parameters
Rarray-like, shape (3, 3)

Rotation matrix

aarray-like, shape (4,)

Axis of rotation and rotation angle: (x, y, z, angle)

qarray-like, shape (4,)

Unit quaternion to represent rotation: (w, x, y, z)

e_xyzarray-like, shape (3,)

Angles for rotation around x-, y’-, and z’’-axes (intrinsic rotations)

e_zyxarray-like, shape (3,)

Angles for rotation around z-, y’-, and x’’-axes (intrinsic rotations)

Returns
Rarray-like, shape (3, 3)

Rotation matrix

Raises
ValueError

If no rotation is given

Examples using pytransform3d.rotations.matrix_from