Add rotation angle

cmower · Sep 10, 2024 · b7e1a6c · b7e1a6c
1 parent eae2a89
commit b7e1a6c
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/spatial_casadi/spatial.py b/spatial_casadi/spatial.py
@@ -540,6 +540,10 @@ def elementary_basis_index(axis):
 
         return angles
 
+    def rotation_angle(self, other):
+        """Angle between two rotations."""
+        return (self.inv() * other).magnitude()
+
 
 class Translation:
     """! A class defining a translation vector."""