pwtools.num.euler_matrix

pwtools.num.euler_matrix(phi, theta, psi, deg=False)[source]

Euler’s rotation matrix.

We use the x-convention, as in [1].

\[\begin{split}(\phi, \theta, \psi) \\ A = B\,C\,D \\ D: \phi = 0,...,2\,\pi \\ C: \theta = 0,...,\pi \\ B: \psi = 0,...,2\,\pi \\\end{split}\]
Parameters:

  • phi (float) – angles

  • theta (float) – angles

  • psi (float) – angles

  • deg (bool) – angles in degree (True) or radians (False, default)

References