original_docstring: Create an unstacked rotation matrix from rotation angles.
    Args:
      rx: rotation angles abound x, of any shape.
      ry: rotation angles abound y (of the same shape as x).
      rz: rotation angles abound z (of the same shape as x).
    Returns:
      A 3 * 3 numpy array , representing the respective rotation matrix.
    
docstring: Create an unstacked rotation matrix from rotation angles.
docstring_tokens: Create an unstacked rotation matrix from rotation angles .
code: def unstacked_matrix_from_angles(rx, ry, rz):
    """Create an unstacked rotation matrix from rotation angles.
    Args:
      rx: rotation angles abound x, of any shape.
      ry: rotation angles abound y (of the same shape as x).
      rz: rotation angles abound z (of the same shape as x).
    Returns:
      A 3 * 3 numpy array , representing the respective rotation matrix.
    """
    angles = [-rx, -ry, -rz]
    sx, sy, sz = [math.sin(a) for a in angles]
    cx, cy, cz = [math.cos(a) for a in angles]
    m00 = cy * cz
    m10 = (sx * sy * cz) - (cx * sz)
    m20 = (cx * sy * cz) + (sx * sz)
    m01 = cy * sz
    m11 = (sx * sy * sz) + (cx * cz)
    m21 = (cx * sy * sz) - (sx * cz)
    m02 = -sy
    m12 = sx * cy
    m22 = cx * cy
    return np.array([[m00, m01, m02], [m10, m11, m12], [m20, m21, m22]])
code_tokens: def unstacked_matrix_from_angles ( rx , ry , rz ) : angles = [ - rx , - ry , - rz ] sx , sy , sz = [ math . sin ( a ) for a in angles ] cx , cy , cz = [ math . cos ( a ) for a in angles ] m00 = cy * cz m10 = ( sx * sy * cz ) - ( cx * sz ) m20 = ( cx * sy * cz ) + ( sx * sz ) m01 = cy * sz m11 = ( sx * sy * sz ) + ( cx * cz ) m21 = ( cx * sy * sz ) - ( sx * cz ) m02 = - sy m12 = sx * cy m22 = cx * cy return np . array ( [ [ m00 , m01 , m02 ] , [ m10 , m11 , m12 ] , [ m20 , m21 , m22 ] ] )
short_docstring: Create an unstacked rotation matrix from rotation angles.
short_docstring_tokens: Create an unstacked rotation matrix from rotation angles .
comment: """Create an unstacked rotation matrix from rotation angles.
    Args:
      rx: rotation angles abound x, of any shape.
      ry: rotation angles abound y (of the same shape as x).
      rz: rotation angles abound z (of the same shape as x).
    Returns:
      A 3 * 3 numpy array , representing the respective rotation matrix.
    """