pytransform3d.trajectories.concat_many_to_one

pytransform3d.trajectories.concat_many_to_one(A2Bs, B2C)[source]

Concatenate multiple transformations A2B with transformation B2C.

We use the extrinsic convention, which means that B2C is left-multiplied to A2Bs.

Parameters
A2Bsarray-like, shape (4, 4)

Transforms from frame A to frame B

B2Carray-like, shape (n_transforms, 4, 4)

Transform from frame B to frame C

Returns
A2Csarray, shape (n_transforms, 4, 4)

Transforms from frame A to frame C

Examples using pytransform3d.trajectories.concat_many_to_one