rotation_matrix

sknano.core.math.rotation_matrix(angle=None, axis=None, anchor_point=None, rot_point=None, from_vector=None, to_vector=None, degrees=False, verbose=False, **kwargs)

Generate an $n\times n$ rotation matrix.

New in version 0.3.0.

Parameters:

• angle (float) – Rotation angle in radians. If degrees is True, angle will be converted to radians from degrees. The sense of the rotation is defined by the right hand rule: If your right-hand’s thumb points along the axis, then your fingers wrap around the axis in the positive sense of the rotation angle.
• axis ({None, array_like, str}, optional) – An $n$-element array_like sequence defining the $n$ components of the rotation axis or the string x, y, or z representing the $x, y, z$ axes of a Cartesian coordinate system in 3D with unit vectors $\mathbf{v}_x=\mathbf{\hat{x}}$, $\mathbf{v}_y=\mathbf{\hat{y}}$, and $\mathbf{v}_z=\mathbf{\hat{z}}$, respectively.
• anchor_point (Point, optional) –
• rot_point (Point, optional) –
• to_vector (from_vector,) –
• degrees (bool, optional) – If True, convert angle from degrees to radians.

Returns:

Rmat – If axis is None then Rmat will be a $2D$ rotation matrix $R(\theta)$ that rotates $2D$ vectors counterclockwise by angle $\theta$.

If axis is not None then Rmat will be a rotation matrix that gives a rotation around the direction of the vector axis.

Return type:

ndarray