skrobot.coordinates.math.rotation_distance

skrobot.coordinates.math.rotation_distance(mat1, mat2)

Return the distance of rotation matrixes.

Parameters:

• mat1 (list or numpy.ndarray) –

• mat2 (list or numpy.ndarray) – 3x3 matrix

Returns:

diff_theta – distance of rotation matrixes in radian.

Return type:

float

Examples

>>> import numpy
>>> from skrobot.coordinates.math import rotation_distance
>>> rotation_distance(numpy.eye(3), numpy.eye(3))
0.0
>>> rotation_distance(
        numpy.eye(3),
        numpy.array([[0, 0, 1], [0, 1, 0], [-1, 0, 0]]))
1.5707963267948966