pytransform3d.rotations
.norm_axis_angle#
- pytransform3d.rotations.norm_axis_angle(a)[source]#
Normalize axis-angle representation.
- Parameters:
- aarray-like, shape (4,)
Axis of rotation and rotation angle: (x, y, z, angle)
- Returns:
- aarray, shape (4,)
Axis of rotation and rotation angle: (x, y, z, angle). The length of the axis vector is 1 and the angle is in [0, pi). No rotation is represented by [1, 0, 0, 0].