mango.math.rotation_matrix

mango.math.rotation_matrix(angle, axis, dim=3, dtype='float64')

Returns rotation matrix for specified degree angle and coordinate axis of rotation.

Parameters:

• angle (float) – Angle of rotation in degrees.
• axis (int) – Index of the axis of rotation (for dim=3, axis=0 is the z-axis, axis=1 is the y-axis and:samp:{axis}=2 is the x-axis.
• dim (int) – Rotation spatial dimension.

Return type:

numpy.array

Returns:

A (dim, dim) shaped rotation matrix.