pytransform3d.transformations.screw_parameters_from_screw_axis¶
- pytransform3d.transformations.screw_parameters_from_screw_axis(screw_axis)[source]¶
Compute screw parameters from screw axis.
Note that there is not just one solution since q can be any point on the screw axis. We select q so that it is orthogonal to s_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:
- qarray, shape (3,)
Vector to a point on the screw axis that is orthogonal to s_axis
- s_axisarray, shape (3,)
Unit 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.
