pytransform3d.batch_rotations.axis_angles_from_matrices

pytransform3d.batch_rotations.axis_angles_from_matrices(Rs, traces=None, out=None)

Compute compact axis-angle representations from rotation matrices.

This is called logarithmic map.

Parameters:

Rsarray-like, shape (…, 3, 3)

Rotation matrices

tracesarray, shape (…, 3)

If the traces of rotation matrices been precomputed, you can pass them here.

outarray, shape (…, 4), optional (default: new array)

Output array to which we write the result

Returns:

Aarray, shape (…, 4)

Axes of rotation and rotation angles: (x, y, z, angle)