`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

Examples using `pytransform3d.transformations.check_screw_parameters`¶

Visualize Wrench

Visualize Wrench

Visualize Wrench