pytransform3d.rotations.left_jacobian_SO3_series#
- pytransform3d.rotations.left_jacobian_SO3_series(omega, n_terms)[source]#
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:
- Jarray, shape (3, 3)
Left Jacobian of SO(3).
See also
left_jacobian_SO3Left Jacobian of SO(3) at theta (angle of rotation).