skrobot.coordinates.math.rotation_matrix_from_axis¶

skrobot.coordinates.math.rotation_matrix_from_axis(first_axis=(1, 0, 0), second_axis=(0, 1, 0), axes='xy')[source]¶

Return rotation matrix orienting first_axis

Parameters:

first_axis (list or tuple or numpy.ndarray) – direction of first axis
second_axis (list or tuple or numpy.ndarray) – direction of second axis. This input axis is normalized using Gram-Schmidt.
axes (str) – valid inputs are ‘xy’, ‘yx’, ‘xz’, ‘zx’, ‘yz’, ‘zy’. first index indicates first_axis’s axis.

Returns:

rotation_matrix – Rotation matrix

Return type:

numpy.ndarray

Examples

>>> from skrobot.coordinates.math import rotation_matrix_from_axis
>>> rotation_matrix_from_axis((1, 0, 0), (0, 1, 0))
array([[1., 0., 0.],
       [0., 1., 0.],
       [0., 0., 1.]])
>>> rotation_matrix_from_axis((1, 1, 1), (0, 1, 0))
array([[ 0.57735027, -0.40824829, -0.70710678],
       [ 0.57735027,  0.81649658,  0.        ],
       [ 0.57735027, -0.40824829,  0.70710678]])