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msg = 'abs(a % pi) > angle_pi_tol and abs(pi - (a % pi)) > angle_pi_tol'
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axis, angle = rotation_matrix_axis_and_angle_2( R, errorThreshold=errorThreshold, debug=debug, msg=msg)
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def rotation_matrix_axis_and_angle_2(R, debug=False, errorThreshold=10**-7, msg=None):
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w, v = numpy.linalg.eig(R) #this method is not used at the primary method as numpy.linalg.eig does not return answers in high enough precision