def random_rotation_matrix(rand=None):
"""Return uniform random rotation matrix.
rand: array like
Three independent random variables that are uniformly distributed
between 0 and 1 for each returned quaternion.
>>> R = random_rotation_matrix()
>>> numpy.allclose(numpy.dot(R.T, R), numpy.identity(4))
True
"""
return quaternion_matrix(random_quaternion(rand))
transformations.py 文件源码
python
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