pytransform3d.transformations.check_screw_axis

pytransform3d.transformations.check_screw_axis(screw_axis)[source]

Input validation of screw axis.

A screw axis

\mathcal{S}
= \left[\begin{array}{c}\boldsymbol{\omega}\\
  \boldsymbol{v}\end{array}\right] \in \mathbb{R}^6

consists of a part that describes rotation and a part that describes translation.

Parameters
screw_axisarray-like, shape (6,)

Screw axis described by 6 values (omega_1, omega_2, omega_3, v_1, v_2, v_3), where the first 3 components are related to rotation and the last 3 components are related to translation.

Returns
screw_axisarray, shape (6,)

Screw axis described by 6 values (omega_1, omega_2, omega_3, v_1, v_2, v_3), where the first 3 components are related to rotation and the last 3 components are related to translation.

Raises
ValueError

If input is invalid

Examples using pytransform3d.transformations.check_screw_axis