pytransform3d.rotations.mrp_from_axis_angle

pytransform3d.rotations.mrp_from_axis_angle(a)

Compute modified Rodrigues parameters from axis-angle representation.

\[\boldsymbol{\psi} = \tan \left(\frac{\theta}{4}\right) \hat{\boldsymbol{\omega}}\]

Parameters:

aarray-like, shape (4,)

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

Returns:

mrparray, shape (3,)

Modified Rodrigues parameters.