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- def rotation_matrix(axis, theta):
- """
- Return the rotation matrix associated with counterclockwise rotation about
- the given axis by theta radians.
- """
- axis = np.asarray(axis)
- axis = axis / np.sqrt(np.dot(axis, axis))
- a = np.cos(theta / 2.0)
- b, c, d = -axis * np.sin(theta / 2.0)
- aa, bb, cc, dd = a * a, b * b, c * c, d * d
- bc, ad, ac, ab, bd, cd = b * c, a * d, a * c, a * b, b * d, c * d
- return np.array([[aa + bb - cc - dd, 2 * (bc + ad), 2 * (bd - ac)],
- [2 * (bc - ad), aa + cc - bb - dd, 2 * (cd + ab)],
- [2 * (bd + ac), 2 * (cd - ab), aa + dd - bb - cc]])
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