pytransform3d.trajectories.mirror_screw_axis_direction#
- pytransform3d.trajectories.mirror_screw_axis_direction(Sthetas)[source]#
Switch to the other representation of the same transformation.
We take the negative of the screw axis, invert the rotation angle and adapt the screw pitch accordingly. For this operation we have to convert exponential coordinates to screw parameters first.
- Parameters:
- Sthetasarray-like, shape (n_steps, 6)
Exponential coordinates of transformation: (omega_x, omega_y, omega_z, v_x, v_y, v_z)
- Returns:
- Sthetasarray, shape (n_steps, 6)
Exponential coordinates of transformation: (omega_x, omega_y, omega_z, v_x, v_y, v_z)