pytransform3d.transformations.dual_quaternion_from_screw_parameters#
- pytransform3d.transformations.dual_quaternion_from_screw_parameters(q, s_axis, h, theta)[source]#
Compute dual quaternion from screw parameters.
- 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.
- thetafloat
Parameter of the transformation: theta is the angle of rotation and h * theta the translation.
- Returns:
- dqarray, shape (8,)
Unit dual quaternion to represent transform: (pw, px, py, pz, qw, qx, qy, qz)