pytransform3d.rotations
.extrinsic_euler_xzy_from_active_matrix#
- pytransform3d.rotations.extrinsic_euler_xzy_from_active_matrix(R, strict_check=True)[source]#
Compute extrinsic xzy Cardan angles from active rotation matrix.
- Parameters:
- Rarray-like, shape (3, 3)
Rotation matrix
- 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:
- earray, shape (3,)
Angles for rotation around x-, z-, and y-axes (extrinsic rotations)