compas.geometry.basis_vectors_from_matrix

compas.geometry.basis_vectors_from_matrix(R)

Returns the basis vectors from the rotation matrix R.

Raises

ValueError – If rotation matrix is invalid.

Returns

list of two vectors – The X and Y basis vectors of the rotation.

Examples

>>> from compas.geometry import Frame
>>> f = Frame([0, 0, 0], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15])
>>> R = matrix_from_frame(f)
>>> xaxis, yaxis = basis_vectors_from_matrix(R)