pytransform3d.transformations.random_screw_axis#
- pytransform3d.transformations.random_screw_axis(rng=Generator(PCG64) at 0x7E3406F3D8C0)[source]#
Generate random screw axis.
Each component of v will be sampled from a standard normal distribution \(\mathcal{N}(\mu=0, \sigma=1)\). Components of \(\omega\) will be sampled from a standard normal distribution and normalized.
- Parameters:
- rngnp.random.Generator, optional (default: random seed 0)
Random number generator
- Returns:
- screw_axisarray, 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.