pytransform3d.rotations.matrix_from_axis_angle

pytransform3d.rotations.matrix_from_axis_angle(a)[source]

Compute rotation matrix from axis-angle.

This is called exponential map or Rodrigues’ formula.

This typically results in an active rotation matrix.

Parameters
aarray-like, shape (4,)

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

Returns
Rarray, shape (3, 3)

Rotation matrix