pytransform3d.transformations.check_screw_parameters

pytransform3d.transformations.check_screw_parameters(q, s_axis, h)[source]

Input validation of screw parameters.

The parameters (\boldsymbol{q}, \hat{\boldsymbol{s}}, h) describe a screw.

Parameters
qarray-like, shape (3,)

Vector to a point on the screw axis

s_axisarray-like, shape (3,)

Direction vector of the screw axis

hfloat

Pitch of the screw. The pitch is the ratio of translation and rotation of the screw axis. Infinite pitch indicates pure translation.

Returns
qarray, shape (3,)

Vector to a point on the screw axis. Will be set to zero vector when pitch is infinite (pure translation).

s_axisarray, shape (3,)

Unit direction vector of the screw axis

hfloat

Pitch of the screw. The pitch is the ratio of translation and rotation of the screw axis. Infinite pitch indicates pure translation.

Raises
ValueError

If input is invalid

Examples using pytransform3d.transformations.check_screw_parameters