Plot Transformed Cylinders

Plots surfaces of transformed cylindrical shells.

import matplotlib.pyplot as plt
import numpy as np

from pytransform3d.plot_utils import plot_cylinder, remove_frame
from pytransform3d.rotations import random_axis_angle, matrix_from_axis_angle
from pytransform3d.transformations import transform_from, plot_transform

rng = np.random.default_rng(44)
A2B = transform_from(
    R=matrix_from_axis_angle(random_axis_angle(rng)),
    p=rng.standard_normal(size=3),
)
ax = plot_cylinder(
    length=1.0, radius=0.3, thickness=0.1, wireframe=False, alpha=0.2
)
plot_transform(ax=ax, A2B=np.eye(4), s=0.3, lw=3)
plot_cylinder(
    ax=ax,
    length=1.0,
    radius=0.3,
    thickness=0.1,
    A2B=A2B,
    wireframe=False,
    alpha=0.2,
)
plot_transform(ax=ax, A2B=A2B, s=0.3, lw=3)
remove_frame(ax)
ax.set_xlim((0, 1.5))
ax.set_ylim((-1.5, 0))
ax.set_zlim((-0.8, 0.7))
plt.show()