pytransform3d.rotations.assert_axis_angle_equal

pytransform3d.rotations.assert_axis_angle_equal(a1, a2, *args, **kwargs)

Raise an assertion if two axis-angle are not approximately equal.

Usually we assume that the rotation axis is normalized to length 1 and the angle is within [0, pi). However, this function ignores these constraints and will normalize the representations before comparison. See numpy.testing.assert_array_almost_equal for a more detailed documentation of the other parameters.

Parameters:

a1array-like, shape (4,)

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

a2array-like, shape (4,)

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

argstuple

Positional arguments that will be passed to assert_array_almost_equal

kwargsdict

Positional arguments that will be passed to assert_array_almost_equal