
Rigid Motion
------------

The motion is a translation and a rotation with an arbitrary axis.
**Ttranslation** is defined by a three coordinates vector ``(x,y,z)``.

**Rotation** requires two points for the axis, each is a ``(x,y,z)`` tuple,
and the rotation angle as radian value.

.. image: images/motion.png

The returned matrix is the *Rodrigues* matrix. 

.. automodule:: pyShift.motion
   :members:

