pytransform3d.rotations.norm_mrp

pytransform3d.rotations.norm_mrp(mrp)

Normalize angle of modified Rodrigues parameters to range [-pi, pi].

Normalization of modified Rodrigues parameters is required to avoid the singularity at a rotation angle of 2 * pi.

Parameters:

mrparray-like, shape (3,)

Modified Rodrigues parameters.

Returns:

mrparray, shape (3,)

Modified Rodrigues parameters with angle normalized to [-pi, pi].