Ra

Contents

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 a generalized formula with Rx, Ry and Rz as 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