`pytransform3d.rotations`.norm_compact_axis_angle¶

pytransform3d.rotations.norm_compact_axis_angle(a)[source]¶

Normalize compact axis-angle representation.

Parameters:

aarray-like, shape (3,): Axis of rotation and rotation angle: angle * (x, y, z)

Returns:

aarray, shape (3,): Axis of rotation and rotation angle: angle * (x, y, z). The angle is in [0, pi). No rotation is represented by [0, 0, 0].