tfg.geometry.transformation.rotation_matrix_3d.assert_rotation_matrix_normalized

Checks whether a matrix is a rotation matrix.

tfg.geometry.transformation.rotation_matrix_3d.assert_rotation_matrix_normalized(
    matrix: type_alias.TensorLike,
    eps: type_alias.Float = 0.001,
    name: str = 'assert_rotation_matrix_normalized'
) -> tf.Tensor

Note
In the following, A1 to An are optional batch dimensions.

Args
matrix	A tensor of shape [A1, ..., An, 3, 3], where the last two dimensions represent a 3d rotation matrix.
eps	The absolute tolerance parameter.
name	A name for this op that defaults to 'assert_rotation_matrix_normalized'.

Returns
The input matrix, with dependence on the assertion operator in the graph.

Raises
tf.errors.InvalidArgumentError	If rotation_matrix_3d is not normalized.