pytransform3d.rotations.intrinsic_euler_zxy_from_active_matrix

pytransform3d.rotations.intrinsic_euler_zxy_from_active_matrix(R, strict_check=True)

Compute intrinsic zxy Cardan angles from active rotation matrix.

Parameters:

Rarray-like, shape (3, 3)

Rotation matrix

strict_checkbool, optional (default: True)

Raise a ValueError if the rotation matrix is not numerically close enough to a real rotation matrix. Otherwise we print a warning.

Returns:

earray, shape (3,)

Angles for rotation around z-, x’-, and y’’-axes (intrinsic rotations)