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Computes the rotation matrix equivalent to an axis & angle rotation
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| import numpy | |
| def axis_angle_to_rotation_matrix(U, theta): | |
| cos_theta, sin_theta = numpy.cos(theta, dtype = U.dtype), numpy.sin(theta, dtype = U.dtype) | |
| U_x = numpy.array([[0, -U[2], U[1]], [U[2], 0, -U[0]], [-U[1], U[0], 0]], dtype = U.dtype) | |
| return cos_theta * numpy.identity(3, dtype = U.dtype) + sin_theta * U_x + (1 - cos_theta) * numpy.outer(U, U) |
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