pytransform3d.trajectories.concat_dynamic

pytransform3d.trajectories.concat_dynamic(A2B, B2C)

Concatenate multiple transformations A2B,B2C with different shapes.

We use the extrinsic convention, which means that B2C is left-multiplied to A2Bs. it can handle different shapes of A2B and B2C dynamically.

Parameters:

A2Barray-like, shape (n_transforms, 4, 4) or (4, 4)

Transforms from frame A to frame B

B2Carray-like, shape (n_transforms, 4, 4) or (4, 4)

Transform from frame B to frame C

Returns:

A2Csarray, shape (n_transforms, 4, 4) or (4, 4)

Transforms from frame A to frame C

See also

concat_many_to_one

Concatenate multiple transformations with one transformation.

concat_one_to_many

Concatenate one transformation with multiple transformations.

concat_many_to_many

Concatenate multiple transformations with multiple transformations.

pytransform3d.transformations.concat

Concatenate two transformations.