Rodrigues Rotation Matrix

Problem

Build the 3x3 rotation matrix for rotating by theta degrees around the axis a, using Rodrigues' formula:

R = I + sin(t)*K + (1 - cos(t))*K^2

where t = radians(theta), a is normalized, and K is the cross-product matrix of a. Return None if a is the zero vector.

Hint

The cross-product matrix K satisfies K*v = a x v.

case 1

in: [[0,0,1],90]

expected: [[0,-1,0],[1,0,0],[0,0,1]]

case 2

in: [[1,0,0],180]

expected: [[1,0,0],[0,-1,0],[0,0,-1]]

case 3

in: [[0,1,0],0]

expected: [[1,0,0],[0,1,0],[0,0,1]]

case 4

in: [[0,0,1],180]

expected: [[-1,0,0],[0,-1,0],[0,0,1]]

Starter codePython

def rodrigues_rotation(axis, theta_degrees):
    # Your code here
    pass

4 test cases · run your code against them in the editor