skued.translation_rotation_matrix

skued.translation_rotation_matrix(angle, axis, translation)

Returns a 4x4 matrix that includes a rotation and a translation.

Parameters:
  • angle (float) – Rotation angle [rad]

  • axis (array-like of length 3) – Axis about which to rotate

  • translation (array_like, shape (3,)) – Translation vector

Returns:

matrix – Affine transform matrix.

Return type:

~numpy.ndarray, shape (4,4)