def mat2euler()

in mujoco_worldgen/util/rotation.py [0:0]

• 17 lines of code
• 1 McCabe index (conditional complexity)

def mat2euler(mat):
    """ Convert Rotation Matrix to Euler Angles.  See rotation.py for notes """
    mat = np.asarray(mat, dtype=np.float64)
    assert mat.shape[-2:] == (3, 3), "Invalid shape matrix {}".format(mat)

    cy = np.sqrt(mat[..., 2, 2] * mat[..., 2, 2] + mat[..., 1, 2] * mat[..., 1, 2])
    condition = cy > _EPS4
    euler = np.empty(mat.shape[:-1], dtype=np.float64)
    euler[..., 2] = np.where(condition,
                             -np.arctan2(mat[..., 0, 1], mat[..., 0, 0]),
                             -np.arctan2(-mat[..., 1, 0], mat[..., 1, 1]))
    euler[..., 1] = np.where(condition,
                             -np.arctan2(-mat[..., 0, 2], cy),
                             -np.arctan2(-mat[..., 0, 2], cy))
    euler[..., 0] = np.where(condition,
                             -np.arctan2(mat[..., 1, 2], mat[..., 2, 2]),
                             0.0)
    return euler