pytransform3d.transformations.check_screw_axis#
- pytransform3d.transformations.check_screw_axis(screw_axis)[source]#
Input validation of screw axis.
A screw axis
\[\begin{split}\mathcal{S} = \left[\begin{array}{c}\boldsymbol{\omega}\\ \boldsymbol{v}\end{array}\right] \in \mathbb{R}^6\end{split}\]consists of a part that describes rotation and a part that describes translation.
- Parameters:
- screw_axisarray-like, shape (6,)
Screw axis described by 6 values (omega_1, omega_2, omega_3, v_1, v_2, v_3), where the first 3 components are related to rotation and the last 3 components are related to translation.
- Returns:
- screw_axisarray, shape (6,)
Screw axis described by 6 values (omega_1, omega_2, omega_3, v_1, v_2, v_3), where the first 3 components are related to rotation and the last 3 components are related to translation.
- Raises:
- ValueError
If input is invalid