`pytransform3d.rotations`.assert_rotation_matrix¶

pytransform3d.rotations.assert_rotation_matrix(R, *args, **kwargs)[source]¶

Raise an assertion if a matrix is not a rotation matrix.

The two properties $\boldsymbol{I} = \boldsymbol{R R}^T$ and $det(R) = 1$ will be checked. See numpy.testing.assert_array_almost_equal for a more detailed documentation of the other parameters.