robotics_toolbox.core.se2.SE2

class robotics_toolbox.core.se2.SE2(translation=None, rotation=None)

Bases: object

Transformation in 2D that is composed of rotation and translation.

Parameters:

__init__(translation=None, rotation=None)

Crete an SE2 transformation. Identity is the default. The se3 instance is represented by translation and rotation, where rotation is SO2 instance.

Attributes: :param translation: 2D vector representing translation :param rotation: SO2 rotation or angle in radians that is converted to SO2

Parameters:

translation (_SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes] | None)
rotation (SO2 | float | None)

Return type:

None

Methods

`__init__`([translation, rotation])	Crete an SE2 transformation.
`act`(vector)	Transform given 2D vector by this SE2 transformation.
`homogeneous`()	Return homogeneous transformation matrix.
`inverse`()	Compute inverse of the transformation.
`set_from`(other)	Copy the properties into current instance.

act(vector)

Transform given 2D vector by this SE2 transformation.

Parameters:: vector (_SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes])
Return type:: ndarray

homogeneous()

Return homogeneous transformation matrix.

inverse()

Compute inverse of the transformation. Do not use np.linalg.inv.

set_from(other)

Copy the properties into current instance.