(itheta, A)
return result
Rotate blade A by angle itheta.
Rotate blade A by angle itheta.
Rotate blade A by angle itheta .
def rot(itheta, A):
    "Rotate blade A by angle itheta."
    theta = itheta.norm()
    i = itheta / theta
    result = (cos(theta / 2) - i * sin(theta / 2)) * A * (cos(theta / 2) + i * sin(theta / 2))
    # result.trigsimp(recursive=True) #trigsimp doesn't work for half angle formulas
    return result
def rot ( itheta , A ) : theta = itheta . norm ( ) i = itheta / theta result = ( cos ( theta / 2 ) - i * sin ( theta / 2 ) ) * A * ( cos ( theta / 2 ) + i * sin ( theta / 2 ) ) # result.trigsimp(recursive=True) #trigsimp doesn't work for half angle formulas return result