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jmbr/sample_small_rotations.py

Created October 30, 2021 01:08
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Quick and dirty sampling of small rotation matrices
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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))
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