pytransform3d.transformations.assert_screw_parameters_equal#
- pytransform3d.transformations.assert_screw_parameters_equal(q1, s_axis1, h1, theta1, q2, s_axis2, h2, theta2, *args, **kwargs)[source]#
Raise an assertion if two sets of screw parameters are not similar.
Note that the screw axis can be inverted. In this case theta and h have to be adapted.
- Parameters:
- q1array, shape (3,)
Vector to a point on the screw axis that is orthogonal to s_axis
- s_axis1array, shape (3,)
Unit direction vector of the screw axis
- h1float
Pitch of the screw. The pitch is the ratio of translation and rotation of the screw axis. Infinite pitch indicates pure translation.
- theta1float
Parameter of the transformation: theta is the angle of rotation and h * theta the translation.
- q2array, shape (3,)
Vector to a point on the screw axis that is orthogonal to s_axis
- s_axis2array, shape (3,)
Unit direction vector of the screw axis
- h2float
Pitch of the screw. The pitch is the ratio of translation and rotation of the screw axis. Infinite pitch indicates pure translation.
- theta2float
Parameter of the transformation: theta is the angle of rotation and h * theta the translation.
- argstuple
Positional arguments that will be passed to assert_array_almost_equal
- kwargsdict
Positional arguments that will be passed to assert_array_almost_equal