pytransform3d.rotations.axis_angle_from_compact_axis_angle

pytransform3d.rotations.axis_angle_from_compact_axis_angle(a)

Compute axis-angle from compact axis-angle representation.

We usually assume active rotations.

Parameters:

aarray-like, shape (3,)

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

Returns:

aarray, shape (4,)

Axis of rotation and rotation angle: (x, y, z, angle). The angle is constrained to [0, pi].