rotmat_from_rotaxis

pycraf.geometry.rotmat_from_rotaxis(rotax_x, rotax_y, rotax_z, angle)

Construct rotation matrix from cartesian rotation axis and angle.

Parameters:

rotax_{x,y,z}Quantity

Cartesian components (x, y, z) of rotation axis [m]

angleQuantity

Rotation angle [deg]

Returns:

Rarray

Rotation matrix [no units!]

Notes

Broadcasting is supported. The rotation axis vector will be normalized in the function (otherwise it’s magnitude would change the effective rotation angle).