robokudo.utils.transform
========================

.. py:module:: robokudo.utils.transform


Functions
---------

.. autoapisummary::

   robokudo.utils.transform.get_pose_from_transform_matrix
   robokudo.utils.transform.get_transform_matrix_from_pose
   robokudo.utils.transform.get_transform_matrix
   robokudo.utils.transform.get_transform_matrix_from_translation
   robokudo.utils.transform.get_transform_matrix_for_rotation_around_axis
   robokudo.utils.transform.get_transform_matrix_from_q
   robokudo.utils.transform.get_rotation_matrix_from_euler_angles
   robokudo.utils.transform.get_rotation_matrix_from_q
   robokudo.utils.transform.get_quaternion_from_rotation_matrix
   robokudo.utils.transform.get_quaternion_from_transform_matrix
   robokudo.utils.transform.get_translation_from_transform_matrix
   robokudo.utils.transform.get_rotation_from_transform_matrix
   robokudo.utils.transform.get_transform_from_plane_equation
   robokudo.utils.transform.construct_rotation_matrix


Module Contents
---------------

.. py:function:: get_pose_from_transform_matrix(transform: numpy.typing.NDArray) -> geometry_msgs.msg.Pose

   Get a ROS geometry_msgs Pose from a 4x4 transformation matrix.

   :param transform: 4x4 transformation matrix
   :return: Equivalent pose


.. py:function:: get_transform_matrix_from_pose(pose: geometry_msgs.msg.Pose) -> numpy.typing.NDArray

   Get a 4x4 transformation matrix from a ROS geometry_msgs Pose.

   :param pose: Equivalent pose
   :return: 4x4 transformation matrix


.. py:function:: get_transform_matrix(rotation: numpy.typing.NDArray, translation: numpy.typing.NDArray) -> numpy.typing.NDArray

   rotation: 3x3
   translation 3dim vector

   returns 4x4 transformation matrix


.. py:function:: get_transform_matrix_from_translation(translation: numpy.typing.NDArray) -> numpy.typing.NDArray

   translation 3dim vector

   returns 4x4 transformation matrix


.. py:function:: get_transform_matrix_for_rotation_around_axis(angle: float, axis: tuple) -> numpy.typing.NDArray

.. py:function:: get_transform_matrix_from_q(quaternion: numpy.typing.NDArray, translation: numpy.typing.NDArray) -> numpy.typing.NDArray

   rotation: quaternion (x,y,z,w) in an array
   translation 3dim vector

   returns 4x4 transformation matrix


.. py:function:: get_rotation_matrix_from_euler_angles(x: float, y: float, z: float) -> numpy.typing.NDArray

   Euler angles in X,Y,Z order

   returns 3x3 rotation matrix


.. py:function:: get_rotation_matrix_from_q(quaternion: numpy.typing.NDArray) -> numpy.typing.NDArray

   rotation: quaternion (x,y,z,w) in an array

   returns 3x3 rotation matrix


.. py:function:: get_quaternion_from_rotation_matrix(rotation_matrix: numpy.typing.NDArray) -> numpy.typing.NDArray

   rotation: 3x3 rotation matrix

   returns quaternion(x,y,z,w) in an array


.. py:function:: get_quaternion_from_transform_matrix(transform_matrix: numpy.typing.NDArray) -> numpy.typing.NDArray

   transform_matrix: 4x4 transformation matrix

   returns quaternion(x,y,z,w) in an array


.. py:function:: get_translation_from_transform_matrix(transform_matrix: numpy.typing.NDArray) -> numpy.typing.NDArray

   transform_matrix: 4x4 transformation matrix

   returns translation(x,y,z) in an array


.. py:function:: get_rotation_from_transform_matrix(transform_matrix: numpy.typing.NDArray) -> numpy.typing.NDArray

   transform_matrix: 4x4 transformation matrix

   returns rotation 3x3


.. py:function:: get_transform_from_plane_equation(plane_equation: numpy.typing.NDArray) -> numpy.typing.NDArray

   Given a plane equation in the general form (a,b,c,d), calculate a transformation matrix
   that can be used to transform a geometry onto that plane with the rotation based on the plane normal.

   :param plane_equation: Numpy array containing 4 elements (a,b,c,d)
   :return: A 4x4 transformation matrix


.. py:function:: construct_rotation_matrix(pose_orientation: numpy.typing.NDArray, axis_order: list) -> numpy.typing.NDArray

   Constructs a rotation matrix based on the given pose orientation and axis order.
   This method can be used if you want to exchange axes with each other, for example when the z axis shall
   be switched with the x-axis.

   :param pose_orientation: A matrix representing the pose orientation as a 3x3 rotation matrix
   :param axis_order: A list of integers [a, b, c] where each element specifies the order of the axis
                      (0 for the first axis, 1 for the second, and so on).
   :return: A new rotation matrix based on the specified axis order.