pytransform3d.transformations.exponential_coordinates_from_transform_log(transform_log, check=True)[source]

Compute exponential coordinates from logarithm of transformation.

transform_logarray-like, shape (4, 4)

Matrix logarithm of transformation matrix: [S] * theta.

checkbool, optional (default: True)

Check if logarithm of transformation is valid

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_log