skrobot.coordinates.math.rotate_vector

skrobot.coordinates.math.rotate_vector(vec, theta, axis)[source]

Rotate a vector around an axis by an angle.

Deprecated since version The: name reads like skrobot.coordinates.Coordinates.rotate_vector(), which rotates by a coordinate’s own rotation instead. Use rotate_vector_by_axis_angle().

Parameters:

vec (list or numpy.ndarray) – target vector
theta (float) – rotation angle in radian
axis (list or numpy.ndarray or str) – axis of rotation.

Returns:

rotated_vec – rotated vector.

Return type: