pytransform3d.transformations.check_screw_parameters#
- pytransform3d.transformations.check_screw_parameters(q, s_axis, h)[source]#
Input validation of screw parameters.
The parameters \((\boldsymbol{q}, \hat{\boldsymbol{s}}, h)\) describe a screw.
- Parameters:
- qarray-like, shape (3,)
Vector to a point on the screw axis
- s_axisarray-like, shape (3,)
Direction vector of the screw axis
- hfloat
Pitch of the screw. The pitch is the ratio of translation and rotation of the screw axis. Infinite pitch indicates pure translation.
- Returns:
- qarray, shape (3,)
Vector to a point on the screw axis. Will be set to zero vector when pitch is infinite (pure translation).
- s_axisarray, shape (3,)
Unit direction vector of the screw axis
- hfloat
Pitch of the screw. The pitch is the ratio of translation and rotation of the screw axis. Infinite pitch indicates pure translation.
- Raises:
- ValueError
If input is invalid
