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zonopy.rot_mat

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zonopy.rot_mat#

zonopy.rot_mat(input: PZType | BPZType, rot_axis: np.ndarray | torch.Tensor, taylor_deg: int = 6) → MPZType | BMPZType[source]#

Returns the rotation matrix from a polyZonotope holding angles or the trigonometric form.

Parameters:

  • input (Union[PZType, BPZType]) – The polyZonotope holding angles or the trigonometric form.

  • rot_axis (Union[np.ndarray, torch.Tensor]) – The rotation axis.

  • taylor_deg (int, optional) – The degree of the Taylor approximation if angles. Defaults to 6.

Returns:

The rotation matrix.

Return type:

Union[MPZType, BMPZType]

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