navigate.tools.linear_algebra.affine_rotation

navigate.tools.linear_algebra.affine_rotation(x=0, y=0, z=0)

Calculate the general 3D affine transform for rotation.

Returns a rotation matrix for a rotation about the x, y, and z axes.

Rotation about x: [1, 0, 0, 0, 0, cos(theta), -sin(theta), 0, 0, sin(theta), cos(theta), 0, 0, 0, 0, 1]

Rotation about Y: [cos(theta), 0, sin(theta), 0, 0, 1, 0, 0, -sin(theta), 0, cos(theta), 0, 0, 0, 0, 1]

Rotation about Z: [cos(theta), -sin(theta), 0, 0, sin(theta), cos(theta), 0, 0, 0, 0, 1, 0, 0, 0, 0, 1]

Parameters:

• x (float) – Rotation about the x axis in degrees.

• y (float) – Rotation about the y axis in degrees.

• z (float) – Rotation about the z axis in degrees.

Returns:

affine_transform – A 4x4 affine transformation matrix.

Return type:

numpy.ndarray