pytransform3d.rotations.norm_compact_axis_angle

pytransform3d.rotations.norm_compact_axis_angle(a)[source]

Normalize compact axis-angle representation.

Parameters
aarray-like, shape (3,)

Axis of rotation and rotation angle: angle * (x, y, z)

Returns
aarray-like, shape (3,)

Axis of rotation and rotation angle: angle * (x, y, z). The angle is in [0, pi). No rotation is represented by [0, 0, 0].

Examples using pytransform3d.rotations.norm_compact_axis_angle