wpimath.geometry functions

wpimath.geometry.rotationVectorToMatrix(rotation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → Annotated[numpy.typing.NDArray[numpy.float64], '[3, 3]']

Applies the hat operator to a rotation vector.

It takes a rotation vector and returns the corresponding matrix representation of the Lie algebra element (a 3x3 rotation matrix).

Parameters:

rotation – The rotation vector.

Returns:

The rotation vector as a 3x3 rotation matrix.