pwtools.num.euler_matrix

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

Euler’s rotation matrix.

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

$$\begin{array}{r}(\varphi ,\theta ,\psi )\\ A=BCD\\ D:\varphi =0,...,2\pi \\ C:\theta =0,...,\pi \\ B:\psi =0,...,2\pi \end{array}$$

Parameters:

• phi (float) – angles

• theta (float) – angles

• psi (float) – angles

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

References

[1]

http://mathworld.wolfram.com/EulerAngles.html