SE3 Class Reference

Rigid body transform in SE(3). More...

Public Member Functions
def	__init__ (self, np.ndarray rotation, np.ndarray translation)
	Construct an SE3 transform from a rotation matrix and translation. More...
np.ndarray	act (self, np.ndarray point)
	Apply the transform to a 3D point. More...
np.ndarray	adjoint (self)
np.ndarray	homogeneous (self)
"SE3"	inverse (self)
bool	is_approx (self, "SE3" other, float prec=1e-6)
	Check approximate equality with another SE3 transform. More...
def	__array__ (self, dtype=None, copy=None)
def	__copy__ (self)
def	__deepcopy__ (self, memo)
bool	__eq__ (self, other)
"SE3"	__mul__ (self, "SE3" other)
str	__repr__ (self)

Static Public Member Functions
"SE3"	from_homogeneous (np.ndarray H)
	Construct an SE3 transform from a 4x4 homogeneous matrix. More...
"SE3"	identity ()
"SE3"	random ()

Public Attributes
	rotation
	Rotation matrix of the transform.
	translation
	Translation vector of the transform.

Detailed Description

Rigid body transform in SE(3).

This small class is meant to implement the basic features we use while processing Upkie models, with an API similar to the ones of the Pinocchio and Mink libraries.

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The documentation for this class was generated from the following file:

• upkie/model/se3.py