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

[Piotr Zolnierczuk]

Hi,
The question has probably been asked here before ...

Is there a scipy/numpy module which facilitates computation of
rotation matrices, Euler angles, etc.?
They are ever present in many branches of physics and re-inventing
them again seems like a waste of time.

I've been using a module written by Chrisoph Gohlke (UCI)
http://www.lfd.uci.edu/~gohlke/code/transformations.py.html, but it
would be nice if I could use something that is already included in
SciPy.

Piotr