pytransform3d.rotations.mrp_near_singularity

pytransform3d.rotations.mrp_near_singularity(mrp, tolerance=1e-06)

Check if modified Rodrigues parameters are close to singularity.

MRPs have a singularity at 2 * pi, i.e., the norm approaches infinity as the angle approaches 2 * pi.

Parameters:

mrparray-like, shape (3,)

Modified Rodrigues parameters.

tolerancefloat, optional (default: 1e-6)

Tolerance for check.

Returns:

near_singularitybool

MRPs are near singularity.