Compute Translation, Rotation in SE(3) with Chasles Theorem

[hunt_mat]

Suppose I have an element of $SE(3)[\itex]. I know this can be thought of as a translation along an axis and rotation about that axis due to Chasles theorem.<br /> <br /> My question is simple: How do I go about computing the axis, length of the translation, angle of the rotation and radius of the rotation?<br /> <br /> It sounds as if it could be rather algorithmic but for the life of me I can't seem to find much information on it.$

 

[fresh_42]

Does this help? (Lemma 2.1)
http://link.springer.com/article/10.1007/s11784-012-0077-0

 

[hunt_mat]

Sort of. I will have a look. What I wanted ideally was something which would give me an algorithm to computing them.

 

[fresh_42]

An algorithm heavily depends on an accurate definition of the input.
To be honest I haven't found and don't know about the Chasles' theorem. There have been several related formulations and connected theorems (e.g. Euler). The only advantage I might have had is to search in an additional language. E.g. I found an article from Zurich but it was plenty of wording and only few formulas.