pytransform3d.transformations.pq_from_transform¶
- pytransform3d.transformations.pq_from_transform(A2B, strict_check=True)[source]¶
Compute position and quaternion from transformation matrix.
- Parameters:
- A2Barray-like, shape (4, 4)
Transformation matrix from frame A to frame B
- 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.
- Returns:
- pqarray, shape (7,)
Position and orientation quaternion: (x, y, z, qw, qx, qy, qz)
