pytransform3d.transformations.screw_axis_from_exponential_coordinates#
- pytransform3d.transformations.screw_axis_from_exponential_coordinates(Stheta)[source]#
Compute screw axis and theta from exponential coordinates.
- 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 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. Theta should be >= 0. Negative rotations will be represented by a negative screw axis instead. This is relevant if you want to recover theta from exponential coordinates.
- 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.
- thetafloat
Parameter of the transformation: theta is the angle of rotation and h * theta the translation.
