pytransform3d.rotations.assert_rotation_matrix

pytransform3d.rotations.assert_rotation_matrix(R, *args, **kwargs)[source]

Raise an assertion if a matrix is not a rotation matrix.

The two properties \boldsymbol{I} = \boldsymbol{R R}^T and det(R) = 1 will be checked. See numpy.testing.assert_array_almost_equal for a more detailed documentation of the other parameters.

Examples using pytransform3d.rotations.assert_rotation_matrix