pytransform3d.transformations.check_exponential_coordinates#
- pytransform3d.transformations.check_exponential_coordinates(Stheta)[source]#
Input validation for exponential coordinates of transformation.
Exponential coordinates of a transformation \(\mathcal{S}\theta \in \mathbb{R}^6\) are the product of a screw axis and a scalar \(\theta\).
- Parameters:
- Sthetaarray-like, shape (6,)
Exponential coordinates of transformation: S * theta = (omega_1, omega_2, omega_3, v_1, v_2, v_3) * theta, where 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. Theta should be >= 0. Negative rotations will be represented by a negative screw axis instead. This is relevant if you want to recover theta from exponential coordinates.
- Returns:
- Sthetaarray, shape (6,)
Exponential coordinates of transformation: S * theta = (omega_1, omega_2, omega_3, v_1, v_2, v_3) * theta, where 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. Theta should be >= 0. Negative rotations will be represented by a negative screw axis instead. This is relevant if you want to recover theta from exponential coordinates.
- Raises:
- ValueError
If input is invalid