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.