@cacheit
    def rotation_matrix(self, system):

        axis = sympy.vector.express(self.axis, system).normalize()
        axis = axis.to_matrix(system)
        theta = self.angle
        parent_orient = ((eye(3) - axis * axis.T) * cos(theta) +
                         Matrix([[0, -axis[2], axis[1]],
                                 [axis[2], 0, -axis[0]],
                                 [-axis[1], axis[0], 0]]) * sin(theta) +
                         axis * axis.T)
        parent_orient = parent_orient.T
        return parent_orient
Get the latest details from the device.
dataset/ETHPy150Open sympy/sympy/sympy/vector/orienters.py/AxisOrienter.rotation_matrix--crossover with--dataset/ETHPy150Open home-assistant/home-assistant/homeassistant/components/media_player/denon.py/DenonDevice.update