pytransform3d.transformations.concat#

pytransform3d.transformations.concat(A2B, B2C, strict_check=True, check=True)[source]#

Concatenate transformations.

We use the extrinsic convention, which means that B2C is left-multiplied to A2B. In mathematical notation:

\[\boldsymbol{T}_{CB} \boldsymbol{T}_{BA} = \boldsymbol{T}_{CA}.\]
Parameters:
A2Barray-like, shape (4, 4)

Transform from frame A to frame B

B2Carray-like, shape (4, 4)

Transform from frame B to frame C

strict_checkbool, optional (default: True)

Raise a ValueError if the transformation matrix is not numerically close enough to a real transformation matrix. Otherwise we print a warning.

checkbool, optional (default: True)

Check if transformation matrices are valid

Returns:
A2Carray-like, shape (4, 4)

Transform from frame A to frame C

See also

pytransform3d.trajectories.concat_one_to_many

Concatenate one transformation with multiple transformations.

pytransform3d.trajectories.concat_many_to_one

Concatenate multiple transformations with one.

pytransform3d.uncertainty.concat_globally_uncertain_transforms

Concatenate two independent globally uncertain transformations.

pytransform3d.uncertainty.concat_locally_uncertain_transforms

Concatenate two independent locally uncertain transformations.

Examples using pytransform3d.transformations.concat#

Animate Trajectory

Animate Trajectory

Transform Concatenation

Transform Concatenation

Plot Transformation through Screw Motion

Plot Transformation through Screw Motion

Dual Quaternion Interpolation

Dual Quaternion Interpolation

Animate Trajectory

Animate Trajectory