pytransform3d.transformations.concat

pytransform3d.transformations.concat(A2B, B2C, strict_check=True, check=True)

Concatenate transformations.

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

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

Transform Concatenation

Transform Concatenation

Plot Transformation through Screw Motion

Plot Transformation through Screw Motion

Dual Quaternion Interpolation

Dual Quaternion Interpolation

Animate Trajectory

Animate Trajectory

Animate Trajectory

Animate Trajectory