pytransform3d.transformations
.left_jacobian_SE3_inv_series#
- pytransform3d.transformations.left_jacobian_SE3_inv_series(Stheta, n_terms)[source]#
Left inverse Jacobian of SE(3) at theta from Taylor series.
- 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.
- n_termsint
Number of terms to include in the series.
- Returns:
- J_invarray, shape (3, 3)
Inverse left Jacobian of SE(3).
See also
left_jacobian_SE3_inv
Left inverse Jacobian of SE(3).