`pytransform3d.transformations`.check_screw_axis¶

pytransform3d.transformations.check_screw_axis(screw_axis)[source]¶

Input validation of screw axis.

A screw axis

$\mathcal{S} = \left[\begin{array}{c}\boldsymbol{\omega}\\ \boldsymbol{v}\end{array}\right] \in \mathbb{R}^6$

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:

pytransform3d.transformations.check_screw_axis¶