pytransform3d.transformations
.exponential_coordinates_from_transform¶
- pytransform3d.transformations.exponential_coordinates_from_transform(A2B, strict_check=True, check=True)[source]¶
Compute exponential coordinates from transformation matrix.
Logarithmic map.
where is the inverse left Jacobian of (see
left_jacobian_SO3_inv()
).- Parameters:
- A2Barray-like, shape (4, 4)
Transformation matrix from frame A to frame B
- strict_checkbool, optional (default: True)
Raise a ValueError if the transformation matrix is not numerically close enough to a real transformation matrix. Otherwise we print a warning.
- checkbool, optional (default: True)
Check if transformation matrix is valid
- Returns:
- Sthetaarray, shape (6,)
Exponential coordinates of transformation: S * theta = (omega_1, omega_2, omega_3, v_1, v_2, v_3) * theta, where S is the screw axis, 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.
Examples using pytransform3d.transformations.exponential_coordinates_from_transform
¶
Plot Straight Line Paths
Invert Uncertain Transform
Concatenate Uncertain Transforms
Concatenate Uncertain Transforms
Dual Quaternion Interpolation
Fuse 3 Poses