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