pytransform3d.transformations.screw_parameters_from_screw_axis

pytransform3d.transformations.screw_parameters_from_screw_axis(screw_axis)[source]

Compute screw parameters from screw axis.

Note that there is not just one solution since q can be any point on the screw axis. We select q so that it is orthogonal to s_axis.

Parameters
screw_axisarray-like, 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.

Returns
qarray, shape (3,)

Vector to a point on the screw axis that is orthogonal to s_axis

s_axisarray, shape (3,)

Unit 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.

Examples using pytransform3d.transformations.screw_parameters_from_screw_axis