skrobot.coordinates.math.matrix_log

skrobot.coordinates.math.matrix_log(m)

Returns matrix log of given rotation matrix, it returns [-pi, pi]

Parameters:

m (list or numpy.ndarray) – 3x3 rotation matrix

Returns:

matrixlog – vector of shape (3, )

Return type:

numpy.ndarray

Examples

>>> import numpy as np
>>> from skrobot.coordinates.math import matrix_log
>>> matrix_log(np.eye(3))
array([0., 0., 0.])