Suppose I have an element of [itex]SE(3)[\itex]. I know this can be thought of as a translation along an axis and rotation about that axis due to Chasles theorem.(adsbygoogle = window.adsbygoogle || []).push({});

My question is simple: How do I go about computing the axis, length of the translation, angle of the rotation and radius of the rotation?

It sounds as if it could be rather algorithmic but for the life of me I can't seem to find much information on it.

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# Chasles' theorem

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