`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:

pytransform3d.transformations.check_exponential_coordinates¶