pytransform3d.rotations.check_matrix

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

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.

robust_polar_decomposition

A more expensive orthonormalization method that spreads the error more evenly between the basis vectors.