crv_bounds¶
Forces the Cartesian rotation vector norm, \(\|\vec{\psi}\|\), to be in the range \([-\pi,\pi]\), i.e. determines the rotation axis orientation, \(\mathbf{\hat{n}}\), so as to ensure “minimal rotation”.
param crv_ini: | Cartesian rotation vector, \(\vec{\psi}\) |
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type crv_ini: | np.array |
returns: | modified and bounded, equivalent Cartesian rotation vector |
rtype: | np.array |