2008/11/21 Sébastien Barthélemy <[EMAIL PROTECTED]>:
> In this spirit, in numpy a set of rotation matrices could be built in
> the following way:
>
> def rotx(theta):
> """
> SE(3) matrices corresponding to a rotation around x-axis. Theta is
> a 1-d array
> """
> costheta = np.cos(theta)
> sintheta = np.sin(theta)
> H = np.zeros((theta.size,4,4))
> H[:,0,0] = 1
> H[:,3,3] = 1
> H[:,1,1] = costheta
> H[:,2,2] = costheta
> H[:,2,1] = sintheta
> H[:,1,2] = sintheta
> return H
Btw, you can just create an array of these elements directly:
np.array([[costheta, -sintheta, 0],
[sintheta, costheta , 0],
[0 , 0 , 1]])
Regards
Stéfan
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