pytransform3d.transformations.transform_from_transform_log¶
- pytransform3d.transformations.transform_from_transform_log(transform_log)[source]¶
Compute transformation from matrix logarithm of transformation.
Exponential map.
![\exp: \left[ \mathcal{S} \right] \theta \in se(3)
\rightarrow \boldsymbol{T} \in SE(3)](../_images/math/0ab763476869429bfe2283d80821dde54c7e734f.png)
![\exp([\mathcal{S}]\theta) =
\exp\left(\left(\begin{array}{cc}
\left[\hat{\boldsymbol{\omega}}\right] & \boldsymbol{v}\\
\boldsymbol{0} & 0
\end{array}\right)\theta\right) =
\left(\begin{array}{cc}
Exp(\hat{\boldsymbol{\omega}} \theta) &
\boldsymbol{J}(\theta)\boldsymbol{v}\theta\\
\boldsymbol{0} & 1
\end{array}\right),](../_images/math/1ca2d4f706da4f5a860ed337051698eb91ddda9a.png)
where
is the left Jacobian of 
(see left_jacobian_SO3()).- Parameters:
- transform_logarray-like, shape (4, 4)
Matrix logarithm of transformation matrix: [S] * theta.
- Returns:
- A2Barray, shape (4, 4)
Transform from frame A to frame B