photonlibpy.estimation.rotTrlTransform3d

RotTrlTransform3d

Represents a transformation that first rotates a pose around the origin, and then translates it.

__init__(rot=Rotation3d(), trl=Translation3d())

A rotation-translation transformation.

Applying this RotTrlTransform3d to poses will preserve their current origin-to-pose transform as if the origin was transformed by these components instead.

Parameters:

Name	Type	Description	Default
rot	Rotation3d	The rotation component	Rotation3d()
trl	Translation3d	The translation component	Translation3d()

getRotation()

The rotation component of this transformation

getTransform()

This transformation as a Transform3d (as if of the origin)

getTranslation()

The translation component of this transformation

inverse()

The inverse of this transformation. Applying the inverse will "undo" this transformation.

makeRelativeTo(pose) classmethod

The rotation-translation transformation that makes poses in the world consider this pose as the new origin, or change the basis to this pose.

Parameters:

Name	Type	Description	Default
pose	Pose3d	The new origin	required