Source code for mgen.rotation_matrix_2d
'''
This module contains functions to generate 2D rotation matrices.
'''
import math
import numpy as np
[docs]def rotation_from_angle(angle):
'''
generates a 2x2 rotation matrix from a given angle following
the definition here:
https://en.wikipedia.org/wiki/Rotation_matrix.
:param angle: the angle by which to rotate
:type angle: float
:returns: the rotation matrix
:rtype: a 2x2 :any:`numpy.ndarray`
'''
c = math.cos(angle)
s = math.sin(angle)
return np.array([[c, -s],[s, c]])