pytransform3d.transformations.screw_axis_from_screw_parameters

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

Compute screw axis representation 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.

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.screw_axis_from_screw_parameters