Check out rotation matrices are rotation matricies
Check out rotation matrices are rotation matricies

This involves getting the Fortran array order to
python order correct, which it now is. I've also
introduced a function that can be used to check that
shape(g) == (3,3), det(g) == 1 and g^-1 == g.T. These
all need to be true if g is a rotation matrix.

andreww/theia_tools