pytransform3d.transformations.transform_log_from_transform

pytransform3d.transformations.transform_log_from_transform(A2B, strict_check=True)[source]

Compute matrix logarithm of transformation from transformation.

Parameters
A2Barray, shape (4, 4)

Transform from frame A to frame B

strict_checkbool, optional (default: True)

Raise a ValueError if the transformation matrix is not numerically close enough to a real transformation matrix. Otherwise we print a warning.

Returns
transform_logarray, shape (4, 4)

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

Examples using pytransform3d.transformations.transform_log_from_transform