pytransform3d.transformations.exponential_coordinates_from_screw_axis

pytransform3d.transformations.exponential_coordinates_from_screw_axis(screw_axis, theta)

Compute exponential coordinates from screw axis and theta.

Parameters:

screw_axisarray-like, shape (6,)

Screw axis described by 6 values (omega_1, omega_2, omega_3, v_1, v_2, v_3), where the first 3 components are related to rotation and the last 3 components are related to translation.

thetafloat

Parameter of the transformation: theta is the angle of rotation and h * theta the translation.

Returns:

Sthetaarray, shape (6,)

Exponential coordinates of transformation: S * theta = (omega_1, omega_2, omega_3, v_1, v_2, v_3) * theta, where the first 3 components are related to rotation and the last 3 components are related to translation. Theta is the rotation angle and h * theta the translation. Theta should be >= 0. Negative rotations will be represented by a negative screw axis instead. This is relevant if you want to recover theta from exponential coordinates.