pytransform3d.rotations.random_axis_angle

pytransform3d.rotations.random_axis_angle(random_state=RandomState(MT19937) at 0x7F1EE15BAE40)[source]

Generate random axis-angle.

The angle will be sampled uniformly from the interval [0, \pi) and each component of the rotation axis will be sampled from \mathcal{N}(\mu=0, \sigma=1) and than the axis will be normalized to length 1.

Parameters
random_statenp.random.RandomState, optional (default: random seed 0)

Random number generator

Returns
aarray, shape (4,)

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