def Orienter(self):
if self.asAxisAngle:
return spv.AxisOrienter(self.Angle, self.Axis)
else:
return spv.QuaternionOrienter(*self.Q)
def rotation3_axis_angle(axis, angle):
return sp.diag(
spv.AxisOrienter(
angle, axis[0] * ODOM.i + axis[1] * ODOM.j +
axis[2] * ODOM.k).rotation_matrix(ODOM), 1).T