[SciPy-User] rotation matrices, Euler angles and all that jazz

[Piotr Zolnierczuk]

Christoph,

thanks for the answers and references. I will keep using your very
useful module.

What I would like to add is that one often needs only the 3x3 (pure
rotation) part of it so it would be nice to provide versions for this
case too.

One obviously can "wrap" (that's what I do) the routines, for example:
def rotation_matrix3(....):
     m = rotation_matrix(...)
     return m[:3,:3]


Cheers
   Piotr