skrobot.coordinates.math.matrix_exponent¶

skrobot.coordinates.math.matrix_exponent(omega, p=1.0)[source]¶

Returns exponent of given omega.

This function is similar to cv2.Rodrigues. Convert rvec (which is log quaternion) to rotation matrix.

Parameters:: omega (list or numpy.ndarray) – vector of shape (3,)
Returns:: rot – exponential matrix of given omega
Return type:: numpy.ndarray

Examples

>>> import numpy as np
>>> from skrobot.coordinates.math import matrix_exponent
>>> matrix_exponent([1, 1, 1])
array([[ 0.22629564, -0.18300792,  0.95671228],
       [ 0.95671228,  0.22629564, -0.18300792],
       [-0.18300792,  0.95671228,  0.22629564]])
>>> matrix_exponent([1, 0, 0])
array([[ 1.        ,  0.        ,  0.        ],
       [ 0.        ,  0.54030231, -0.84147098],
       [ 0.        ,  0.84147098,  0.54030231]])