#!/usr/bin/env python3
# -*- coding: utf-8 -*-
__author__ = "Christian"
__doc__ = r"""
Created on 29/03/2020
"""
import numpy
__all__ = ["rotate_y", "rotate_x", "rotate_z"]
from warg import Number
[docs]def rotate_y(angle: Number, degrees: bool = True) -> numpy.ndarray:
"""Ry ,rotate along y-axis"""
if degrees:
angle = numpy.deg2rad(angle)
cy = numpy.cos(angle)
sy = numpy.sin(angle)
return numpy.array([[cy, 0, -sy, 0], [0, 1, 0, 0], [sy, 0, cy, 0], [0, 0, 0, 1]])
[docs]def rotate_x(angle: Number, degrees: bool = True) -> numpy.ndarray:
"""Rx ,rotate along x-axis"""
if degrees:
angle = numpy.deg2rad(angle)
cx = numpy.cos(angle)
sx = numpy.sin(angle)
return numpy.array([[1, 0, 0, 0], [0, cx, sx, 0], [0, -sx, cx, 0], [0, 0, 0, 1]])
[docs]def rotate_z(angle: Number, degrees: bool = True) -> numpy.ndarray:
"""Rz ,rotate along z-axis"""
if degrees:
angle = numpy.deg2rad(angle)
cz = numpy.cos(angle)
sz = numpy.sin(angle)
return numpy.array([[cz, sz, 0, 0], [-sz, cz, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]])
