pytransform3d.transformations.exponential_coordinates_from_transform

pytransform3d.transformations.exponential_coordinates_from_transform(A2B, strict_check=True, check=True)[source]

Compute exponential coordinates from transformation matrix.

Logarithmic map.

Parameters
A2Barray-like, shape (4, 4)

Transformation matrix from frame A to frame B

strict_checkbool, optional (default: True)

Raise a ValueError if the transformation matrix is not numerically close enough to a real transformation matrix. Otherwise we print a warning.

checkbool, optional (default: True)

Check if transformation matrix is valid

Returns
Sthetaarray, 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.transformations.exponential_coordinates_from_transform