pytransform3d.transformations.random_screw_axis

pytransform3d.transformations.random_screw_axis(random_state=RandomState(MT19937) at 0x7FE0F9FA8440)[source]

Generate random screw axis.

Each component of v will be sampled from a standard normal distribution \mathcal{N}(\mu=0, \sigma=1). Components of \omega will be sampled from a standard normal distribution and normalized.

Parameters
random_statenp.random.RandomState, optional (default: random seed 0)

Random number generator

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.

Examples using pytransform3d.transformations.random_screw_axis