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.