pytransform3d.batch_rotations.norm_axis_angles

pytransform3d.batch_rotations.norm_axis_angles(a)

Normalize axis-angle representation.

Parameters:

aarray-like, shape (…, 4)

Axis of rotation and rotation angle: (x, y, z, angle)

Returns:

aarray, shape (…, 4)

Axis of rotation and rotation angle: (x, y, z, angle). The length of the axis vector is 1 and the angle is in [0, pi). No rotation is represented by [1, 0, 0, 0].