pytransform3d.transformations.left_jacobian_SE3_series

pytransform3d.transformations.left_jacobian_SE3_series(Stheta, n_terms)

Left 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:

Jarray, shape (3, 3)

Left Jacobian of SE(3).

See also

left_jacobian_SE3

Left Jacobian of SE(3).