pytransform3d.rotations.rotor_from_plane_angle

pytransform3d.rotations.rotor_from_plane_angle(B, angle)

Compute rotor from plane bivector and angle.

Parameters:

Barray-like, shape (3,)

Unit bivector (b_yz, b_zx, b_xy) that represents the plane of rotation (will be normalized internally)

anglefloat

Rotation angle

Returns:

rotorarray, shape (4,)

Rotor: (a, b_yz, b_zx, b_xy)