transforms.py 文件源码

def trotx(theta, unit="rad", xyz=[0, 0, 0]):
    """
    TROTX Rotation about X axis

    :param theta: rotation in radians or degrees
    :param unit: "rad" or "deg" to indicate unit being used
    :param xyz: the xyz translation, if blank defaults to [0,0,0]
    :return: homogeneous transform matrix

    trotx(THETA) is a homogeneous transformation (4x4) representing a rotation
    of THETA radians about the x-axis.
    trotx(THETA, 'deg') as above but THETA is in degrees
    trotx(THETA, 'rad', [x,y,z]) as above with translation of [x,y,z]
    """
    check_args.unit_check(unit)
    tm = rotx(theta, unit)
    tm = np.r_[tm, np.zeros((1, 3))]
    mat = np.c_[tm, np.array([[xyz[0]], [xyz[1]], [xyz[2]], [1]])]
    mat = np.asmatrix(mat.round(15))
    return mat


# ---------------------------------------------------------------------------------------#