def METHOD_NAME(self):
    rot_mat = np.eye(3)
    s = self.right
    s = self.normalize_vector(s)
    rot_mat[0, :] = s
    u = self.up
    u = self.normalize_vector(u)
    rot_mat[1, :] = -u
    rot_mat[2, :] = self.normalize_vector(self.direction)
    return rot_mat