choreo.ActionSym.IsWellFormed

ActionSym.IsWellFormed(self, double atol=default_atol) → bool

Returns True if the transformation is well-formed.

This function will return True if and only if all the following constraints are satisfied:

• TimeShift = TimeShiftNum / TimeShiftDen is an irreducible fraction in \([0,1[\).

• BodyPerm defines a permutation of [0, …, n-1], where n = BodyPerm.shape(0).

• SpaceRot is an orthogonal matrix.

Parameters:

atol (float, optional) – Absolute tolerance for the orthogonality test.

Return type:

bool