pytransform3d.transformations.check_exponential_coordinates

pytransform3d.transformations.check_exponential_coordinates(Stheta)[source]

Input validation for exponential coordinates of transformation.

Exponential coordinates of a transformation \mathcal{S}\theta
\in \mathbb{R}^6 are the product of a screw axis and a scalar \theta.

Parameters
Sthetaarray-like, shape (6,)

Exponential coordinates of transformation: S * theta = (omega_1, omega_2, omega_3, v_1, v_2, v_3) * theta, where 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. Theta should be >= 0. Negative rotations will be represented by a negative screw axis instead. This is relevant if you want to recover theta from exponential coordinates.

Returns
Sthetaarray, shape (6,)

Exponential coordinates of transformation: S * theta = (omega_1, omega_2, omega_3, v_1, v_2, v_3) * theta, where 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. Theta should be >= 0. Negative rotations will be represented by a negative screw axis instead. This is relevant if you want to recover theta from exponential coordinates.

Raises
ValueError

If input is invalid

Examples using pytransform3d.transformations.check_exponential_coordinates