pytransform3d.transformations.screw_matrix_from_screw_axis

pytransform3d.transformations.screw_matrix_from_screw_axis(screw_axis)

Compute screw matrix from screw axis.

Parameters:

screw_axisarray-like, 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.

Returns:

screw_matrixarray, 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.