jmbr · October 30, 2021 01:08
diff --git a/sample_small_rotations.py b/sample_small_rotations.py
 """Quick and dirty sampling of small rotation matrices."""

 import numpy as np
 from scipy.linalg import expm
 from scipy.spatial.transform import Rotation


 n: int = 3                      # Dimensions
 epsilon: float = 1e-2           # Amplitude of the rotation

 A = np.random.rand(n, n)
 A = epsilon * (A - A.T) / 2.0
 B = expm(A)

 print(Rotation.from_matrix(B).as_euler('xyz', degrees=True))
	"""Quick and dirty sampling of small rotation matrices."""

	import numpy as np
	from scipy.linalg import expm
	from scipy.spatial.transform import Rotation


	n: int = 3 # Dimensions
	epsilon: float = 1e-2 # Amplitude of the rotation

	A = np.random.rand(n, n)
	A = epsilon * (A - A.T) / 2.0
	B = expm(A)

	print(Rotation.from_matrix(B).as_euler('xyz', degrees=True))