This module contains various mathematical utilities.
Rotation related functions.
| rotation_matrix(angle, axis[, dim, dtype]) | Returns rotation matrix for specified degree angle and coordinate axis of rotation. |
| rotation_matrix_from_cross_prod(a, b) | Returns the rotation matrix which rotates the vector a onto the the vector b. |
| axis_angle_from_cross_prod(a, b) | Returns the (axis, radian_angle) rotation which rotates the vector a onto the the vector b. |
| axis_angle_from_rotation_matrix(rm) | Converts 3x3 rotation matrix to axis and angle representation. |
| axis_angle_to_rotation_matrix(direction, angle) | Convert 3D axis and angle of rotation to 3x3 rotation matrix. |