pytransform3d.rotations.assert_rotation_matrix

pytransform3d.rotations.assert_rotation_matrix(R, *args, **kwargs)

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.

Parameters:

Rarray-like, shape (3, 3)

Rotation matrix

argstuple

Positional arguments that will be passed to assert_array_almost_equal

kwargsdict

Positional arguments that will be passed to assert_array_almost_equal