pytransform3d.transformations.transform_log_from_screw_matrix

pytransform3d.transformations.transform_log_from_screw_matrix(screw_matrix, theta)

Compute matrix logarithm of transformation from screw matrix and theta.

Parameters:

screw_matrixarray-like, 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.

thetafloat

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

Returns:

transform_logarray, shape (4, 4)

Matrix logarithm of transformation matrix: [S] * theta.