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.

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.

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


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