skrobot.coordinates.math.rotate_matrix

skrobot.coordinates.math.rotate_matrix(matrix, theta, axis, world=None, skip_normalization=False)[source]

Rotate a rotation matrix around an axis by an angle.

Deprecated since version Renamed: for symmetry with rotate_vector_by_axis_angle(). Use rotate_matrix_by_axis_angle().

Parameters:

matrix (numpy.ndarray) – 3x3 rotation matrix to rotate
theta (float) – rotation angle in radian
axis (list or numpy.ndarray or str) – axis of rotation.
world (bool or None) – if None or False, rotate about matrix’s own axes. Otherwise rotate about the world axes.
skip_normalization (bool) – if True, skip normalization of axis.

Returns:

rotated_matrix – 3x3 rotation matrix

Return type:

numpy.ndarray