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Update modern_robotics.py 

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Olivier Martin 2018-04-28 19:35:21 -04:00 committed by GitHub
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commit e7ed6a8932
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code/Python/modern_robotics.py
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@ -144,7 +144,7 @@ Output:
[-1.20919958, 1.20919958, 0]] [-1.20919958, 1.20919958, 0]]
''' '''
if NearZero(np.linalg.norm(R - np.eye(3))): if NearZero(np.linalg.norm(R - np.eye(3))):
return np.zeros(3,3) return np.zeros((3,3))
elif NearZero(np.trace(R) + 1): elif NearZero(np.trace(R) + 1):
if not NearZero(1 + R[2][2]): if not NearZero(1 + R[2][2]):
omg = (1.0 / sqrt(2 * (1 + R[2][2]))) \ omg = (1.0 / sqrt(2 * (1 + R[2][2]))) \