pytransform3d.transformations.check_screw_matrix#
- pytransform3d.transformations.check_screw_matrix(screw_matrix, tolerance=1e-06, strict_check=True)[source]#
Input validation for screw matrix.
A screw matrix consists of the cross-product matrix of a rotation axis and a translation.
\[\begin{split}\left[\mathcal S\right] = \left( \begin{array}{cc} \left[\boldsymbol{\omega}\right] & \boldsymbol v\\ \boldsymbol 0 & 0\\ \end{array} \right) = \left( \begin{matrix} 0 & -\omega_3 & \omega_2 & v_1\\ \omega_3 & 0 & -\omega_1 & v_2\\ -\omega_2 & \omega_1 & 0 & v_3\\ 0 & 0 & 0 & 0\\ \end{matrix} \right) \in se(3) \subset \mathbb{R}^{4 \times 4}\end{split}\]- Parameters:
- screw_matrixarray-like, shape (4, 4)
A screw matrix consists of a cross-product matrix that represents an axis of rotation, a translation, and a row of zeros.
- tolerancefloat, optional (default: 1e-6)
Tolerance threshold for checks.
- strict_checkbool, optional (default: True)
Raise a ValueError if [omega].T is not numerically close enough to -[omega]. Otherwise we print a warning.
- Returns:
- screw_matrixarray, shape (4, 4)
A screw matrix consists of a cross-product matrix that represents an axis of rotation, a translation, and a row of zeros.
- Raises:
- ValueError
If input is invalid