pytransform3d.transformations.dual_quaternion_from_screw_parameters

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

Compute dual quaternion from screw parameters.

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.

thetafloat

Parameter of the transformation: theta is the angle of rotation and h * theta the translation.

Returns
dqarray, shape (8,)

Unit dual quaternion to represent transform: (pw, px, py, pz, qw, qx, qy, qz)

Examples using pytransform3d.transformations.dual_quaternion_from_screw_parameters