pytransform3d.transformations.screw_axis_from_screw_matrix

pytransform3d.transformations.screw_axis_from_screw_matrix(screw_matrix)

Compute screw axis from screw matrix.

Parameters:

screw_matrixarray-like, shape (4, 4)

A screw matrix consists of a cross-product matrix that represents an axis of rotation, a translation, and a row of zeros.

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.