pytransform3d.transformations.transform_requires_renormalization

pytransform3d.transformations.transform_requires_renormalization(A2B, tolerance=1e-06)

Check if transformation matrix requires renormalization.

This function will check if \(R R^T \approx I\).

Parameters:

A2Barray-like, shape (4, 4)

Transform from frame A to frame B with a rotation matrix that should be orthonormal.

tolerancefloat, optional (default: 1e-6)

Tolerance for check.

Returns:

requiredbool

Indicates if renormalization is required.

See also

pytransform3d.rotations.matrix_requires_renormalization

Check if a rotation matrix needs renormalization.

pytransform3d.rotations.norm_matrix

Orthonormalize rotation matrix.