scipy.spatial.transform.RigidTransform.

as_exp_coords

RigidTransform.as_exp_coords(self)

Return the exponential coordinates of the transform.

This implements the logarithmic map that converts SE(3) to 6-dimensional real vectors.

This is an inverse of from_exp_coords where details on the mapping can be found.

Returns:

exp_coordsnumpy.ndarray, shape (N, 6) or (6,)

A single exponential coordinate vector or a stack of exponential coordinate vectors. The first three components define the rotation and the last three components define the translation.

Examples

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>>> from scipy.spatial.transform import RigidTransform as Tf
>>> import numpy as np

Get exponential coordinates of the identity matrix:

>>> Tf.identity().as_exp_coords()
array([0., 0., 0., 0., 0., 0.])

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