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_coordswhere 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 - >>> 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.])