transformations.py 文件源码

python
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项目:Neural-Networks-for-Inverse-Kinematics 作者: paramrajpura 项目源码 文件源码
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))
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