extra.py 文件源码

def rotation_matrix(u, theta):
    '''Return matrix that implements the rotation around the vector :math:`u`
    by the angle :math:`\\theta`, cf.
    https://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_and_angle.

    :param u: rotation vector
    :param theta: rotation angle
    '''
    # Cross-product matrix.
    cpm = numpy.array([[0.0,   -u[2],  u[1]],
                      [u[2],    0.0, -u[0]],
                      [-u[1],  u[0],  0.0]])
    c = numpy.cos(theta)
    s = numpy.sin(theta)
    R = numpy.eye(3) * c \
        + s * cpm \
        + (1.0 - c) * numpy.outer(u, u)
    return R