common.py 文件源码

def isrot(rot, dtest=False):
    """
    ISROT Test if SO(2) or SO(3) rotation matrix
    ISROT(rot) is true if the argument if of dimension 2x2, 2x2xN, 3x3, or 3x3xN, else false (0).
    ISROT(rot, 'valid') as above, but also checks the validity of the rotation.
    See also  ISHOMOG, ISROT2, ISVEC.
    """
    if type(rot) is np.matrix:
        rot = [rot]
    if type(rot) is list:
        for each in rot:
            try:
                assert type(each) is np.matrix
                assert each.shape == (3, 3)
                npt.assert_almost_equal(np.linalg.det(each), 1)
            except AssertionError:
                return False
    return True