def eulerAnglesToRotationMatrix()

in threedod/benchmark_scripts/utils/rotation.py [0:0]

• 24 lines of code
• 1 McCabe index (conditional complexity)

def eulerAnglesToRotationMatrix(theta):
    """Euler rotation matrix with clockwise logic.
    Rotation

    Args:
        theta: list of float
            [theta_x, theta_y, theta_z]
    Returns:
        R: np.array (3, 3)
            rotation matrix of Rz*Ry*Rx
    """
    R_x = np.array(
        [
            [1, 0, 0],
            [0, math.cos(theta[0]), -math.sin(theta[0])],
            [0, math.sin(theta[0]), math.cos(theta[0])],
        ]
    )

    R_y = np.array(
        [
            [math.cos(theta[1]), 0, math.sin(theta[1])],
            [0, 1, 0],
            [-math.sin(theta[1]), 0, math.cos(theta[1])],
        ]
    )

    R_z = np.array(
        [
            [math.cos(theta[2]), -math.sin(theta[2]), 0],
            [math.sin(theta[2]), math.cos(theta[2]), 0],
            [0, 0, 1],
        ]
    )

    R = np.dot(R_z, np.dot(R_y, R_x))
    return R