pytransform3d.trajectories.exponential_coordinates_from_transforms

pytransform3d.trajectories.exponential_coordinates_from_transforms(A2Bs)[source]

Compute exponential coordinates from transformations.

Parameters
A2Bsarray-like, shape (…, 4, 4)

Poses represented by homogeneous matrices

Returns
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.

Examples using pytransform3d.trajectories.exponential_coordinates_from_transforms