pytransform3d.rotations
.mrp_double#
- pytransform3d.rotations.mrp_double(mrp)[source]#
Other modified Rodrigues parameters representing the same orientation.
MRPs have two representations for the same rotation: \(\boldsymbol{\psi}\) and \(-\frac{1}{||\boldsymbol{\psi}||^2} \boldsymbol{\psi}\) represent the same rotation and correspond to two antipodal unit quaternions [1].
- Parameters:
- mrparray-like, shape (3,)
Modified Rodrigues parameters.
- Returns:
- mrp_doublearray, shape (3,)
Different modified Rodrigues parameters that represent the same orientation.
References
[1]Shuster, M. D. (1993). A Survey of Attitude Representations. Journal of the Astronautical Sciences, 41, 439-517. http://malcolmdshuster.com/Pub_1993h_J_Repsurv_scan.pdf