tfg.geometry.transformation.rotation_matrix_common.is_valid

Determines if a matrix in K-dimensions is a valid rotation matrix.

tfg.geometry.transformation.rotation_matrix_common.is_valid(
    matrix: type_alias.TensorLike,
    atol: type_alias.Float = 0.001,
    name: str = 'rotation_matrix_common_is_valid'
) -> tf.Tensor

Determines if a matrix \(\mathbf{R}\) is a valid rotation matrix by checking that \(\mathbf{R}^T\mathbf{R} = \mathbf{I}\) and \(\det(\mathbf{R}) = 1\).

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

Args
matrix	A tensor of shape [A1, ..., An, K, K], where the last two dimensions represent a rotation matrix in K-dimensions.
atol	The absolute tolerance parameter.
name	A name for this op that defaults to "rotation_matrix_common_is_valid".

Returns
A tensor of type bool and shape [A1, ..., An, 1] where False indicates that the input is not a valid rotation matrix.