to_axang

DCM.to_axang() → Tuple[ndarray, float]

Synonym of method to_axisangle().

Returns:

• axis (numpy.ndarray) – Axis of rotation.

• angle (float) – Angle of rotation, in radians.

Examples

>>> R = DCM(rpy=[10.0, -20.0, 30.0])
>>> R.view()
DCM([[ 0.92541658, -0.31879578, -0.20487413],
     [ 0.16317591,  0.82317294, -0.54383814],
     [ 0.34202014,  0.46984631,  0.81379768]])
>>> R.to_axang()
(array([ 0.81187135, -0.43801381,  0.38601658]), 0.6742208510527136)