parameters: (T)
return_statement: return so3.matrix(R)
docstring: Returns the 3x3 rotation matrix corresponding to T's rotation
docstring_summary: Returns the 3x3 rotation matrix corresponding to T's rotation
docstring_tokens: Returns the 3x3 rotation matrix corresponding to T s rotation
function: def rotation(T):
      """Returns the 3x3 rotation matrix corresponding to T's rotation"""
      (R,t) = T
      return so3.matrix(R)
function_tokens: def rotation ( T ) : ( R , t ) = T return so3 . matrix ( R )