def se2(self):
"""
Twist3.se Return the twist matrix
TW.se is the twist matrix in se(2) or se(3) which is an augmented
skew-symmetric matrix (3x3 or 4x4).
"""
if len(self) == 1:
return base.skewa(self.S)
else:
return [base.skewa(x.S) for x in self]
def se3(self):
"""
Convert 3D twist to se(3)
:return: An se(3) matrix
:rtype: numpy.ndarray, shape=(4,4)
``X.se3()`` is the twist as an se(3) matrix, which is an augmented
skew-symmetric 4x4 matrix.
"""
if len(self) == 1:
return base.skewa(self.S)
else:
return [base.skewa(x.S) for x in self]
def se3(self):
"""
Convert 3D twist to se(3)
:return: An se(3) matrix
:rtype: ndarray(4,4)
``X.se3()`` is the twist as an se(3) matrix, which is an augmented
skew-symmetric 4x4 matrix.
Example:
.. runblock:: pycon
>>> from spatialmath import Twist3, base
>>> S = Twist3.Rx(0.3)
>>> se = S.se3()
>>> se
>>> base.trexp(se)
"""
if len(self) == 1:
return base.skewa(self.S)
else:
return [base.skewa(x.S) for x in self]
def se2(self):
"""
Convert 2D twist to se(2)
:return: An se(2) matrix
:rtype: ndarray(3,3)
``X.se2()`` is the twist as an se(2) matrix, which is an augmented
skew-symmetric 3x3 matrix.
Example:
.. runblock:: pycon
>>> from spatialmath import Twist2, base
>>> S = Twist2([1,2,3])
>>> se = S.se2()
>>> se
>>> base.trexp2(se)
"""
if len(self) == 1:
return base.skewa(self.S)
else:
return [base.skewa(x.S) for x in self]
