franky.Affine

class franky.Affine

Bases: pybind11_object

A rigid 3D transformation consisting of a translation and a rotation. Used to represent poses and coordinate frame transformations.

__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: franky._franky.Affine, transformation_matrix: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[4, 4]”] = array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]])) -> None

Construct an affine transformation from a 4x4 homogeneous transformation matrix.

  1. __init__(self: franky._franky.Affine, translation: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[3, 1]”] = array([0., 0., 0.]), quaternion: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[4, 1]”] = array([0., 0., 0., 1.])) -> None

Construct an affine transformation from a translation [m] and a rotation quaternion in [x, y, z, w] format.

  1. __init__(self: franky._franky.Affine, arg0: franky._franky.Affine) -> None

property inverse

The inverse of this transformation.

property matrix

This transformation as a 4x4 homogeneous transformation matrix.

property quaternion

The rotation component of this transformation as quaternion in [x, y, z, w] format.

property translation

The translation component [m] of this transformation.