pytransform3d.rotations.matrix_from_compact_axis_angle

pytransform3d.rotations.matrix_from_compact_axis_angle(a)[source]

Compute rotation matrix from compact axis-angle.

This is called exponential map or Rodrigues’ formula.

This typically results in an active rotation matrix.

Parameters
aarray-like, shape (3,)

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

Returns
Rarray-like, shape (3, 3)

Rotation matrix

Examples using pytransform3d.rotations.matrix_from_compact_axis_angle