pytransform3d.rotations.norm_euler

pytransform3d.rotations.norm_euler(e, i, j, k)

Normalize Euler angle range.

Parameters:

earray-like, shape (3,)

Rotation angles in radians about the axes i, j, k in this order.

iint from [0, 1, 2]

The first rotation axis (0: x, 1: y, 2: z)

jint from [0, 1, 2]

The second rotation axis (0: x, 1: y, 2: z)

kint from [0, 1, 2]

The third rotation axis (0: x, 1: y, 2: z)

Returns:

earray, shape (3,)

Extracted rotation angles in radians about the axes i, j, k in this order. The first and last angle are normalized to [-pi, pi]. The middle angle is normalized to either [0, pi] (proper Euler angles) or [-pi/2, pi/2] (Cardan / Tait-Bryan angles).