def rotation_matrix(self):
        """Returns the 3x3 rotation matrix (R)

        Returns
        ----------
        result: np.ndarray
            3x3 rotation matrix
        """
        result = self.quat.transformation_matrix
        return result[:3, :3]
Returns the 3x3 rotation matrix (R)

        Returns
        ----------
        result: np.ndarray
            3x3 rotation matrix
        
tridet/structures/pose.py