diff --git a/spatialmath/pose3d.py b/spatialmath/pose3d.py index 4c2dae06..0e0c760e 100644 --- a/spatialmath/pose3d.py +++ b/spatialmath/pose3d.py @@ -1041,6 +1041,13 @@ def shape(self) -> Tuple[int, int]: """ return (4, 4) + @SO3.R.setter + def R(self, r: SO3Array) -> None: + if len(self) > 1: + raise ValueError("can only assign rotation to length 1 object") + so3 = SO3(r) + self.A[:3, :3] = so3.R + @property def t(self) -> R3: """