pytransform3d.rotations.left_jacobian_SO3_inv_series

pytransform3d.rotations.left_jacobian_SO3_inv_series(omega, n_terms)

Inverse left Jacobian of SO(3) at theta from Taylor series.

Parameters:

omegaarray-like, shape (3,)

Compact axis-angle representation.

n_termsint

Number of terms to include in the series.

Returns:

J_invarray, shape (3, 3)

Inverse left Jacobian of SO(3).

See also

left_jacobian_SO3_inv

Inverse left Jacobian of SO(3) at theta (angle of rotation).