pytransform3d.trajectories.concat_many_to_many

pytransform3d.trajectories.concat_many_to_many(A2B, B2C)

Concatenate multiple transformations A2B with transformation B2C.

We use the extrinsic convention, which means that B2C is left-multiplied to A2Bs.

Parameters:

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

Transforms from frame A to frame B

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

Transform from frame B to frame C

Returns:

A2Csarray, shape (n_transforms, 4, 4)

Transforms from frame A to frame C

See also

concat_many_to_one

Concatenate one transformation with multiple transformations.

pytransform3d.transformations.concat

Concatenate two transformations.