Computes the matrix operator to rotate a 3D vector with respect to an arbitrary axis by a given angle.

Parameters:¶

angle : float¶

Desired angular displacement after matrix multiplication.

axis : SphericalAngle¶

Inclination and azimuthal angles, defining the axis about which the rotation is to be performed.

Returns:¶

A 3x3 matrix which, when acting to the left of a 3D vector, will rotate it about the provided axis by the given angle.

Return type:¶

ndarray[float64]

Notes

This is a matrix implementation of Rodrigues’ rotation formula [1].

References