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