pytransform3d.trajectories.dual_quaternions_from_screw_parameters

pytransform3d.trajectories.dual_quaternions_from_screw_parameters(qs, s_axis, hs, thetas)

Compute dual quaternions from arrays of screw parameters.

Parameters:

qsarray-like, shape (…, 3)

Vector to a point on the screw axis

s_axisarray-like, shape (…, 3)

Direction vector of the screw axis

hsarray-like, shape (…,)

Pitch of the screw. The pitch is the ratio of translation and rotation of the screw axis. Infinite pitch indicates pure translation.

thetasarray-like, shape (…,)

Parameter of the transformation: theta is the angle of rotation and h * theta the translation.

Returns:

dqsarray, shape (…, 8)

Unit dual quaternion to represent transform: (pw, px, py, pz, qw, qx, qy, qz)

See also

pytransform3d.transformations.dual_quaternion_from_screw_parameters

Compute dual quaternion from screw parameters.