pytransform3d.rotations.compact_axis_angle_near_pi

pytransform3d.rotations.compact_axis_angle_near_pi(a, tolerance=1e-06)

Check if angle of compact axis-angle representation is near pi.

When the angle \(\theta = \pi\), both \(\hat{\boldsymbol{\omega}}\) and \(-\hat{\boldsymbol{\omega}}\) result in the same rotation. This ambiguity could lead to problems when averaging or interpolating.

Parameters:

aarray-like, shape (3,)

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

tolerancefloat

Tolerance of this check.

Returns:

near_pibool

Angle is near pi.