jaxtransform3d.transformations.exponential_coordinates_from_dual_quaternion#

jaxtransform3d.transformations.exponential_coordinates_from_dual_quaternion(dual_quat: Array | ndarray | bool_ | number | bool | int | float | complex) → Array[source]#

Compute dual quaternion from exponential coordinates.

This operation is called logarithmic map.

Parameters:

dual_quatarray-like, shape (…, 8): Dual quaternion.

Returns:

exp_coordsarray, shape (…, 6): Exponential coordinates.

See also

dual_quaternion_from_exponential_coordinates: Exponential map.
exponential_coordinates_from_transform: Logarithmic map for transformation matrices.