3D rigid transform: position (3) + rotation (quaternion, 4).
Constructors
| Constructor |
Description |
Transform() |
Identity. |
Transform.identity() |
Identity (factory form). |
Transform.from_translation(vec) |
Translation only. |
Transform.from_rotation(quat) |
Rotation only. |
Properties
| Property |
Description |
position |
3D position [m]. |
rotation |
Unit quaternion. |
Methods
| Method |
Description |
rotation_matrix() |
Returns the 3x3 rotation matrix. |
__mul__(other) |
Compose with another Transform. |
inverse() |
Returns the inverse transform. |
Example
import numpy as np
import novaphy
t = novaphy.Transform.from_translation(np.array([0.0, 1.0, 0.0]))
See Also