robokudo.utils.transform¶

Functions¶

`get_pose_from_transform_matrix`(→ geometry_msgs.msg.Pose)	Get a ROS geometry_msgs Pose from a 4x4 transformation matrix.
`get_transform_matrix_from_pose`(→ numpy.typing.NDArray)	Get a 4x4 transformation matrix from a ROS geometry_msgs Pose.
`get_transform_matrix`(→ numpy.typing.NDArray)	rotation: 3x3
`get_transform_matrix_from_translation`(...)	translation 3dim vector
`get_transform_matrix_for_rotation_around_axis`(...)
`get_transform_matrix_from_q`(→ numpy.typing.NDArray)	rotation: quaternion (x,y,z,w) in an array
`get_rotation_matrix_from_euler_angles`(...)	Euler angles in X,Y,Z order
`get_rotation_matrix_from_q`(→ numpy.typing.NDArray)	rotation: quaternion (x,y,z,w) in an array
`get_quaternion_from_rotation_matrix`(→ numpy.typing.NDArray)	rotation: 3x3 rotation matrix
`get_quaternion_from_transform_matrix`(...)	transform_matrix: 4x4 transformation matrix
`get_translation_from_transform_matrix`(...)	transform_matrix: 4x4 transformation matrix
`get_rotation_from_transform_matrix`(→ numpy.typing.NDArray)	transform_matrix: 4x4 transformation matrix
`get_transform_from_plane_equation`(→ numpy.typing.NDArray)	Given a plane equation in the general form (a,b,c,d), calculate a transformation matrix
`construct_rotation_matrix`(→ numpy.typing.NDArray)	Constructs a rotation matrix based on the given pose orientation and axis order.

Module Contents¶

robokudo.utils.transform.get_pose_from_transform_matrix(transform: numpy.typing.NDArray) → geometry_msgs.msg.Pose¶

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

Parameters:: transform – 4x4 transformation matrix
Returns:: Equivalent pose

robokudo.utils.transform.get_transform_matrix_from_pose(pose: geometry_msgs.msg.Pose) → numpy.typing.NDArray¶

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

Parameters:: pose – Equivalent pose
Returns:: 4x4 transformation matrix

robokudo.utils.transform.get_transform_matrix(rotation: numpy.typing.NDArray, translation: numpy.typing.NDArray) → numpy.typing.NDArray¶

rotation: 3x3 translation 3dim vector

returns 4x4 transformation matrix

robokudo.utils.transform.get_transform_matrix_from_translation(translation: numpy.typing.NDArray) → numpy.typing.NDArray¶

translation 3dim vector

returns 4x4 transformation matrix

robokudo.utils.transform.get_transform_matrix_for_rotation_around_axis(angle: float, axis: tuple) → numpy.typing.NDArray¶

robokudo.utils.transform.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

robokudo.utils.transform.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

robokudo.utils.transform.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

robokudo.utils.transform.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

robokudo.utils.transform.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

robokudo.utils.transform.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

robokudo.utils.transform.get_rotation_from_transform_matrix(transform_matrix: numpy.typing.NDArray) → numpy.typing.NDArray¶

transform_matrix: 4x4 transformation matrix

returns rotation 3x3

robokudo.utils.transform.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.

Parameters:: plane_equation – Numpy array containing 4 elements (a,b,c,d)
Returns:: A 4x4 transformation matrix

robokudo.utils.transform.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.

Parameters:

pose_orientation – A matrix representing the pose orientation as a 3x3 rotation matrix
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).

Returns:

A new rotation matrix based on the specified axis order.