def euler2mat()

in mujoco_worldgen/util/rotation.py [0:0]

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

def euler2mat(euler):
    """ Convert Euler Angles to Rotation Matrix.  See rotation.py for notes """
    euler = np.asarray(euler, dtype=np.float64)
    assert euler.shape[-1] == 3, "Invalid shaped euler {}".format(euler)

    ai, aj, ak = -euler[..., 2], -euler[..., 1], -euler[..., 0]
    si, sj, sk = np.sin(ai), np.sin(aj), np.sin(ak)
    ci, cj, ck = np.cos(ai), np.cos(aj), np.cos(ak)
    cc, cs = ci * ck, ci * sk
    sc, ss = si * ck, si * sk

    mat = np.empty(euler.shape[:-1] + (3, 3), dtype=np.float64)
    mat[..., 2, 2] = cj * ck
    mat[..., 2, 1] = sj * sc - cs
    mat[..., 2, 0] = sj * cc + ss
    mat[..., 1, 2] = cj * sk
    mat[..., 1, 1] = sj * ss + cc
    mat[..., 1, 0] = sj * cs - sc
    mat[..., 0, 2] = -sj
    mat[..., 0, 1] = cj * si
    mat[..., 0, 0] = cj * ci
    return mat