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, \(\vec{\psi}\) type crv_ini:np.array returns:modified and bounded, equivalent Cartesian rotation vector rtype:np.array