pytransform3d.rotations.plot_basis(ax=None, R=None, p=array([0., 0., 0.]), s=1.0, ax_s=1, strict_check=True, **kwargs)[source]

Plot basis of a rotation matrix.

axMatplotlib 3d axis, optional (default: None)

If the axis is None, a new 3d axis will be created

Rarray-like, shape (3, 3), optional (default: I)

Rotation matrix, each column contains a basis vector

parray-like, shape (3,), optional (default: [0, 0, 0])

Offset from the origin

sfloat, optional (default: 1)

Scaling of the frame that will be drawn

ax_sfloat, optional (default: 1)

Scaling of the new matplotlib 3d axis

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.

kwargsdict, optional (default: {})

Additional arguments for the plotting functions, e.g. alpha

axMatplotlib 3d axis

New or old axis