parameters: (beta=0, alpha=0, gamma=0, d=3.0)
return_statement: return T
docstring: make transform T = R_z(gamma) * R_y(beta) * R_x(alpha)
docstring_summary: make transform T = R_z(gamma) * R_y(beta) * R_x(alpha)
docstring_tokens: make transform T = R_z ( gamma ) * R_y ( beta ) * R_x ( alpha )
function: def make_tf(beta=0, alpha=0, gamma=0, d=3.0):
      """ make transform T = R_z(gamma) * R_y(beta) * R_x(alpha) """
      T = np.matrix(rotation_matrix(gamma, (0,0,1))) * \
          np.matrix(rotation_matrix(beta,  (0,1,0))) * \
          np.matrix(rotation_matrix(alpha, (1,0,0)))
      T[0:3,3] = np.matrix([[0, 0, d]]).T
      return T
function_tokens: def make_tf ( beta = 0 , alpha = 0 , gamma = 0 , d = 3.0 ) : T = np . matrix ( rotation_matrix ( gamma , ( 0 , 0 , 1 ) ) ) * np . matrix ( rotation_matrix ( beta , ( 0 , 1 , 0 ) ) ) * np . matrix ( rotation_matrix ( alpha , ( 1 , 0 , 0 ) ) ) T [ 0 : 3 , 3 ] = np . matrix ( [ [ 0 , 0 , d ] ] ) . T return T