robotics_toolbox.core.se3.SE3

class robotics_toolbox.core.se3.SE3(translation=None, rotation=None)

Bases: object

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

Parameters:

• translation (ArrayLike | None)

• rotation (SO3 | None)

__init__(translation=None, rotation=None)

Crete an SE3 transformation. Identity is the default.

Parameters:

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

• rotation (SO3 | None)

Return type:

None

Methods

__init__([translation, rotation])	Crete an SE3 transformation.
act(vector)	Rotate given 3D vector by this transformation.
homogeneous()	Return homogeneous matrix representation of the transformation.
inverse()	Compute inverse of the transformation
set_from(other)	Copy the properties into current instance.

act(vector)

Rotate given 3D vector by this 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 matrix representation of the transformation.

Return type:

ndarray

inverse()

Compute inverse of the transformation

Return type:

SE3

set_from(other)

Copy the properties into current instance.

Parameters:

other (SE3)