pytransform3d.trajectories.transforms_from_exponential_coordinates¶
- pytransform3d.trajectories.transforms_from_exponential_coordinates(Sthetas)[source]¶
Compute transformations from exponential coordinates.
- Parameters:
- Sthetasarray-like, shape (…, 6)
Exponential coordinates of transformation: S * theta = (omega_1, omega_2, omega_3, v_1, v_2, v_3) * theta, where S is the screw axis, the first 3 components are related to rotation and the last 3 components are related to translation. Theta is the rotation angle and h * theta the translation.
- Returns:
- A2Bsarray, shape (…, 4, 4)
Poses represented by homogeneous matrices
