Rigid Transformations

RigidTransform

class autolab_core.RigidTransform(rotation=array([[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]), translation=array([0.0, 0.0, 0.0]), from_frame='unassigned', to_frame='world')

A Rigid Transformation from one frame to another.

SimilarityTransform

class autolab_core.SimilarityTransform(rotation=array([[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]), translation=array([0.0, 0.0, 0.0]), scale=1.0, from_frame='unassigned', to_frame='world')

A Similarity Transformation from one frame to another (rigid transformation + scaling)