`pytransform3d.transformations`.left_jacobian_SE3_inv¶

pytransform3d.transformations.left_jacobian_SE3_inv(Stheta)[source]¶

Left inverse Jacobian of SE(3).

$\boldsymbol{\mathcal{J}}^{-1} = \left( \begin{array}{cc} \boldsymbol{J}^{-1} & \boldsymbol{0}\\ -\boldsymbol{J}^{-1}\boldsymbol{Q}\boldsymbol{J}^{-1} & \boldsymbol{J}^{-1} \end{array} \right),$

where $\boldsymbol{J}$ is the left Jacobian of SO(3) and $\boldsymbol{Q}$ is given by Barfoot and Furgale (see reference below).

Parameters:

Sthetaarray-like, 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.

Returns:

J_invarray, shape (6, 6): Inverse Jacobian of SE(3).

pytransform3d.transformations.left_jacobian_SE3_inv¶

`pytransform3d.transformations`.left_jacobian_SE3_inv¶