Ra#
- mrinufft.trajectories.maths.Ra(vector, theta)[source]#
Initialize 3D rotation matrix around an arbitrary vector.
Initialize a 3D rotation matrix to rotate around vector by an angle theta. It corresponds to the generalized formula, while Rx, Ry and Rz are subcases.
- Parameters:
vector (np.ndarray) – Vector defining the rotation axis, automatically normalized.
theta (float) – Angle in radians defining the rotation around vector.
- Returns:
3D rotation matrix.
- Return type:
np.ndarray