pytransform3d.rotations
.norm_matrix¶
- pytransform3d.rotations.norm_matrix(R)[source]¶
Orthonormalize rotation matrix.
A rotation matrix is defined as
and must be orthonormal, which results in 6 constraints:
column vectors must have unit norm (3 constraints)
and must be orthogonal to each other (3 constraints)
A more compact representation of these constraints is .
Because of numerical problems, a rotation matrix might not satisfy the constraints anymore. This function will enforce them.
- Parameters:
- Rarray-like, shape (3, 3)
Rotation matrix with small numerical errors.
- Returns:
- Rarray, shape (3, 3)
Orthonormalized rotation matrix.
See also
check_matrix
Checks orthonormality of a rotation matrix.