Rz

Specification

Location	Author	Maintained by
isl/math/matrix3.py	Kenny Erleben	DIKU

Purpose & Params

Rotate a coordinate on the z-axis given a euler rotation matrix.

Example

    # Rotates the coordinate v 90 degrees on the z-axis
    v = np.array([1,0,0])
    radian_z        = 0.5 * np.pi
    rotation_matrix = mat3.Rz(radian_z)
    print(np.dot(rotation_matrix, v))

output:

   [6.123234e-17 1.000000e+00 0.000000e+00]