parameters: (self)
return_statement: return self._relativeCoordinates[0]
docstring: Returns an element of SO(3) denoting the rotation from this frame
          to its parent
docstring_summary: Returns an element of SO(3) denoting the rotation from this frame
          to its parent
docstring_tokens: Returns an element of SO ( 3 ) denoting the rotation from this frame to its parent
function: def relativeRotation(self):
          """Returns an element of SO(3) denoting the rotation from this frame
          to its parent"""
          return self._relativeCoordinates[0]
function_tokens: def relativeRotation ( self ) : return self . _relativeCoordinates [ 0 ]