rigid_transformations.py 文件源码

def rotation_from_axes(x_axis, y_axis, z_axis):
        """Convert specification of axis in target frame to
        a rotation matrix from source to target frame.

        Parameters
        ----------
        x_axis : :obj:`numpy.ndarray` of float
            A normalized 3-vector for the target frame's x-axis.

        y_axis : :obj:`numpy.ndarray` of float
            A normalized 3-vector for the target frame's y-axis.

        z_axis : :obj:`numpy.ndarray` of float
            A normalized 3-vector for the target frame's z-axis.

        Returns
        -------
        :obj:`numpy.ndarray` of float
            A 3x3 rotation matrix that transforms from a source frame to the
            given target frame.
        """
        return np.hstack((x_axis[:,np.newaxis], y_axis[:,np.newaxis], z_axis[:,np.newaxis]))