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_matrixEnforces orthonormality of a rotation matrix.