pytransform3d.uncertainty.invert_uncertain_transform

pytransform3d.uncertainty.invert_uncertain_transform(mean, cov)

Invert uncertain transform.

For the mean , the inverse is simply .

For the covariance, we need the adjoint of the inverse transformation :

Parameters:

meanarray-like, shape (4, 4)

Mean of transform from frame A to frame B.

covarray, shape (6, 6)

Covariance of transform from frame A to frame B in exponential coordinate space.

Returns:

mean_invarray, shape (4, 4)

Mean of transform from frame B to frame A.

cov_invarray, shape (6, 6)

Covariance of transform from frame B to frame A in exponential coordinate space.

See also

pytransform3d.transformations.invert_transform

Invert transformation without uncertainty.

References

Mangelson, Ghaffari, Vasudevan, Eustice: Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra, https://arxiv.org/pdf/1906.07795.pdf

Examples using pytransform3d.uncertainty.invert_uncertain_transform

Invert Uncertain Transform

Invert Uncertain Transform