axis_to_rotation_matrix

static Quaternion.axis_to_rotation_matrix(x_axis, y_axis, z_axis)

Construct a rotation matrix from three orthonormal axes.

Parameters:

x_axistuple of float

The X axis of the rotated frame.

y_axistuple of float

The Y axis of the rotated frame.

z_axistuple of float

The Z axis of the rotated frame.

Returns:

tuple of tuples

A 3x3 rotation matrix where each column is one of the given axes.

Raises:

ValueError

If the axes do not form an orthonormal basis.