`scipy.spatial.transform._rigid_transform:RigidTransform.as_exp_coords`

Signature

def as_exp_coords(self) → Array

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.

exp_coords : numpy.ndarray, shape (..., 6): Exponential coordinate vectors with the same leading dimensions as the transform. The first three components define the rotation and the last three components define the translation.

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

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Get exponential coordinates of the identity matrix:

Tf.identity().as_exp_coords()

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array([0., 0., 0., 0., 0., 0.])