openalea.phenomenal.calibration.transformations.euler_matrix

openalea.phenomenal.calibration.transformations.euler_matrix(ai, aj, ak, axes='sxyz')

Return homogeneous rotation matrix from Euler angles and axis sequence.

ai, aj, ak : Euler’s roll, pitch and yaw angles axes : One of 24 axis sequences as string or encoded tuple

>>> R = euler_matrix(1, 2, 3, 'syxz')
>>> numpy.allclose(numpy.sum(R[0]), -1.34786452)
True
>>> R = euler_matrix(1, 2, 3, (0, 1, 0, 1))
>>> numpy.allclose(numpy.sum(R[0]), -0.383436184)
True
>>> ai, aj, ak = (4*math.pi) * (numpy.random.random(3) - 0.5)
>>> for axes in _AXES2TUPLE.keys():
...    R = euler_matrix(ai, aj, ak, axes)
>>> for axes in _TUPLE2AXES.keys():
...    R = euler_matrix(ai, aj, ak, axes)