pytransform3d.transformations.check_transform_log

pytransform3d.transformations.check_transform_log(transform_log, tolerance=1e-06, strict_check=True)[source]

Input validation for logarithm of transformation.

The logarithm of a transformation \left[\mathcal{S}\right]\theta \in se(3) \subset \mathbb{R}^{4 \times 4} are the product of a screw matrix and a scalar \theta.

Parameters:
transform_logarray-like, shape (4, 4)

Matrix logarithm of transformation matrix: [S] * theta.

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:
transform_logarray, shape (4, 4)

Matrix logarithm of transformation matrix: [S] * theta.

Raises:
ValueError

If input is invalid