pytransform3d.transformations.transform_log_from_exponential_coordinates

pytransform3d.transformations.transform_log_from_exponential_coordinates(Stheta)[source]

Compute matrix logarithm of transformation from exponential coordinates.

Parameters
Sthetaarray-like, 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.

Returns
transform_logarray, shape (4, 4)

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

Examples using pytransform3d.transformations.transform_log_from_exponential_coordinates