rigid_body_motion.ReferenceFrame.from_rotation_matrix¶
- classmethod ReferenceFrame.from_rotation_matrix(mat, parent, name=None, inverse=False)[source]¶
Construct a static reference frame from a rotation matrix.
- Parameters
- mat: array_like, shape (3, 3)
The rotation matrix that describes the rotation of this frame wrt the parent frame.
- parent: str or ReferenceFrame
The parent reference frame. If str, the frame will be looked up in the registry under that name.
- name: str, default None
The name of the reference frame.
- inverse: bool, default False
If True, invert the transform wrt the parent frame, i.e. the rotation is specified for the parent frame wrt this frame.
- Returns
- rf: ReferenceFrame
The constructed reference frame.