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