pytransform3d.rotations.compact_axis_angle_from_matrix#
- pytransform3d.rotations.compact_axis_angle_from_matrix(R, check=True)[source]#
Compute compact axis-angle from rotation matrix.
This operation is called logarithmic map. Note that there are two possible solutions for the rotation axis when the angle is 180 degrees (pi).
We usually assume active rotations.
- Parameters:
- Rarray-like, shape (3, 3)
Rotation matrix
- checkbool, optional (default: True)
Check if rotation matrix is valid
- Returns:
- aarray, shape (3,)
Axis of rotation and rotation angle: angle * (x, y, z). The angle is constrained to [0, pi].