py3dframe.Frame.get_global_rotation_matrix

Frame.get_global_rotation_matrix(*, convention: int | None = None) → ndarray

Get the rotation matrix between the global frame and the frame in the given convention.

Parameters:

convention (Optional[int], optional) – The convention to express the transformation. It can be an integer between 0 and 7 or a string corresponding to the conventions. Default is the convention of the frame.

Returns:

The rotation matrix between the global frame and the frame in the given convention with shape (3, 3).

Return type:

numpy.ndarray