Compute exponential coordinates from transformations.
- A2Bsarray-like, shape (…, 4, 4)
Poses represented by homogeneous matrices
- Sthetasarray, shape (…, 6)
Exponential coordinates of transformation: S * theta = (omega_1, omega_2, omega_3, v_1, v_2, v_3) * theta, where S is the screw axis, the first 3 components are related to rotation and the last 3 components are related to translation. Theta is the rotation angle and h * theta the translation.