Added rotation matrix around y
@@ -331,6 +331,14 @@ def rotation3d_x(angle):
mat[2, :] = [0.0, s, c]
return mat
+def rotation3d_y(angle):
+ c = np.cos(angle)
+ s = np.sin(angle)
+ mat = np.zeros((3, 3))
+ mat[0, :] = [c, 0.0, -s]
+ mat[1, :] = [0.0, 1.0, 0.0]
+ mat[2, :] = [s, 0.0, c]
+ return mat
def rotation3d_z(angle):
c = np.cos(angle)
