`pytransform3d.transformations`.screw_matrix_from_transform_log¶

pytransform3d.transformations.screw_matrix_from_transform_log(transform_log)[source]¶

Compute screw matrix from logarithm of transformation.

Parameters:

transform_logarray-like, shape (4, 4): Matrix logarithm of transformation matrix: [S] * theta.

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.