orthonomalize

Specification

Location	Author	Maintained by
isl/math/matrix3.py	Kenny Erleben	DIKU

Purpose & Params

Finds the orthogonal matrix of a given matrix M.

Example

    M    = np.random.rand(3,3)
    M_orthonomalized = mat3.ortonormalize(M)
    expected = mat3.identity()
    print(np.dot(np.transpose(M_orthonomalized), M_orthonomalized))

output:

   [[1.00000000e+00 0.00000000e+00 5.55111512e-17]
    [0.00000000e+00 1.00000000e+00 1.66533454e-16]
    [5.55111512e-17 1.66533454e-16 1.00000000e+00]]