举例:
向量a顺时针旋转-90度,即逆时针旋转90度:
import numpy as np
from numpy.linalg import norm
a = np.array([0.0, 1.0])
alpha = -0.5*np.pi
x_ = a[1]*np.sin(alpha)+a[0]*np.cos(alpha)
y_ = a[1]*np.cos(alpha)-a[0]*np.sin(alpha)
print("[ {} , {} ]".format(x_, y_))
结果:
[ -1.0 , 6.123233995736766e-17 ]
如同预期,[0, 1] 逆时针旋转90度后为 [-1, 0]