pytransform3d.trajectories.screw_parameters_from_dual_quaternions#

pytransform3d.trajectories.screw_parameters_from_dual_quaternions(dqs)[source]#

Compute screw parameters from dual quaternions.

Parameters:
dqsarray-like, shape (…, 8)

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

Returns:
qsarray, shape (…, 3)

Vector to a point on the screw axis

s_axissarray, shape (…, 3)

Direction vector of the screw axis

hsarray, shape (…,)

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

thetasarray, shape (…,)

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

See also

pytransform3d.transformations.screw_parameters_from_dual_quaternion

Compute screw parameters from dual quaternion.