parameters: (transform)
return_statement: return numpy.arccos( min(1,max(-1, (numpy.trace(transform[0:3,0:3]) - 1)/2) ))
docstring: Compute the rotation angle from a 4x4 homogeneous matrix.
docstring_summary: Compute the rotation angle from a 4x4 homogeneous matrix.
docstring_tokens: Compute the rotation angle from a 4x4 homogeneous matrix .
function: def compute_angle(transform):
      """
      Compute the rotation angle from a 4x4 homogeneous matrix.
      """
      # an invitation to 3-d vision, p 27
      return numpy.arccos( min(1,max(-1, (numpy.trace(transform[0:3,0:3]) - 1)/2) ))
function_tokens: def compute_angle ( transform ) : # an invitation to 3-d vision, p 27 return numpy . arccos ( min ( 1 , max ( - 1 , ( numpy . trace ( transform [ 0 : 3 , 0 : 3 ] ) - 1 ) / 2 ) ) )