pytransform3d.trajectories.pqs_from_transforms¶
- pytransform3d.trajectories.pqs_from_transforms(A2Bs)[source]¶
Get sequence of positions and quaternions from homogeneous matrices.
- Parameters:
- A2Bsarray-like, shape (…, 4, 4)
Poses represented by homogeneous matrices
- Returns:
- Parray, shape (n_steps, 7)
Poses represented by positions and quaternions in the order (x, y, z, qw, qx, qy, qz) for each step
