rigid_transformations.py 文件源码

def x_axis_rotation(theta):
        """Generates a 3x3 rotation matrix for a rotation of angle
        theta about the x axis.

        Parameters
        ----------
        theta : float
            amount to rotate, in radians

        Returns
        -------
        :obj:`numpy.ndarray` of float
            A random 3x3 rotation matrix.
        """
        R = np.array([[1, 0, 0,],
                      [0, np.cos(theta), -np.sin(theta)],
                      [0, np.sin(theta), np.cos(theta)]])
        return R