`pytransform3d.rotations`.check_matrix¶

pytransform3d.rotations.check_matrix(R, tolerance=1e-06, strict_check=True)[source]¶

Input validation of a rotation matrix.

We check whether R multiplied by its inverse is approximately the identity matrix

$\boldsymbol{R}\boldsymbol{R}^T = \boldsymbol{I}$

and whether the determinant is positive

$det(\boldsymbol{R}) > 0$

Parameters:

Rarray-like, shape (3, 3): Rotation matrix
tolerancefloat, optional (default: 1e-6): Tolerance threshold for checks. Default tolerance is the same as in assert_rotation_matrix(R).
strict_checkbool, optional (default: True): Raise a ValueError if the rotation matrix is not numerically close enough to a real rotation matrix. Otherwise we print a warning.

Returns:

Rarray, shape (3, 3): Validated rotation matrix

Raises:

ValueError: If input is invalid

See also

norm_matrix: Enforces orthonormality of a rotation matrix.