skrobot.coordinates.math.axis_angle_vector_to_rotation_matrix

skrobot.coordinates.math.axis_angle_vector_to_rotation_matrix(omega, p=1.0)[source]

Convert axis-angle vector representation to rotation matrix.

Converts an axis-angle representation (where the vector direction is the rotation axis and magnitude is the rotation angle) to a rotation matrix using Rodrigues’ formula.

Parameters:

omega (list or numpy.ndarray) – Axis-angle vector of shape (3,). The direction represents the rotation axis and the magnitude represents the rotation angle in radians.
p (float, optional) – Interpolation parameter (default: 1.0). When p=1.0, returns the full rotation. When 0<p<1, returns partial rotation.

Returns:

rot – 3x3 rotation matrix

Return type:

numpy.ndarray

Examples

>>> import numpy as np
>>> from skrobot.coordinates.math import axis_angle_vector_to_rotation_matrix
>>> axis_angle_vector_to_rotation_matrix([1, 1, 1])
array([[ 0.22629564, -0.18300792,  0.95671228],
       [ 0.95671228,  0.22629564, -0.18300792],
       [-0.18300792,  0.95671228,  0.22629564]])
>>> axis_angle_vector_to_rotation_matrix([1, 0, 0])
array([[ 1.        ,  0.        ,  0.        ],
       [ 0.        ,  0.54030231, -0.84147098],
       [ 0.        ,  0.84147098,  0.54030231]])