pytransform3d.transform_manager.TimeVaryingTransform#

class pytransform3d.transform_manager.TimeVaryingTransform[source]#

Bases: ABC

Time-varying rigid transformation.

You have to inherit from this abstract base class to use the TemporalTransformManager. Two implementations of the interface that are already available are StaticTransform and NumpyTimeseriesTransform.

__init__(*args, **kwargs)#

Methods

`__init__`(args, *kwargs)
`as_matrix`(query_time)	Get transformation matrix at given time.
`check_transforms`()	Checks all transformations.

abstractmethod as_matrix(query_time)[source]#

Get transformation matrix at given time.

Parameters:

query_timeUnion[float, array-like shape (n_queries,)]: Query time

Returns:

A2B_tarray, shape (4, 4) or (n_queries, 4, 4): Homogeneous transformation matrix at given time or times

abstractmethod check_transforms()[source]#

Checks all transformations.

Returns:

selfTimeVaryingTransform: Validated transformations.