pytransform3d.transformations.screw_parameters_from_dual_quaternion

pytransform3d.transformations.screw_parameters_from_dual_quaternion(dq)

Compute screw parameters from dual quaternion.

Parameters:

dqarray-like, shape (8,)

Unit dual quaternion to represent transform: (pw, px, py, pz, qw, qx, qy, qz)

Returns:

qarray, shape (3,)

Vector to a point on the screw axis

s_axisarray, shape (3,)

Direction vector of the screw axis

hfloat

Pitch of the screw. The pitch is the ratio of translation and rotation of the screw axis. Infinite pitch indicates pure translation.

thetafloat

Parameter of the transformation: theta is the angle of rotation and h * theta the translation.