from_axang

DCM.from_axang(axis: ndarray, angle: float) → ndarray

Synonym of method from_axisangle().

Parameters:

• axis (numpy.ndarray) – Axis of rotation.

• angle (float) – Angle of rotation, in radians.

Returns:

R – 3-by-3 direction cosine matrix

Return type:

numpy.ndarray

Examples

>>> R = DCM()
>>> R.view()
DCM([[1., 0., 0.],
     [0., 1., 0.],
     [0., 0., 1.]])
>>> R.from_axang([0.81187135, -0.43801381, 0.38601658], 0.6742208510527136)
array([[ 0.92541658, -0.31879578, -0.20487413],
       [ 0.16317591,  0.82317294, -0.54383814],
       [ 0.34202014,  0.46984631,  0.81379768]])