pytransform3d.trajectories.concat_one_to_many

pytransform3d.trajectories.concat_one_to_many(A2B, B2Cs)[source]

Concatenate transformation A2B with multiple transformations B2C.

We use the extrinsic convention, which means that B2Cs are left-multiplied to A2B.

Parameters
A2Barray-like, shape (4, 4)

Transform from frame A to frame B

B2Csarray-like, shape (n_transforms, 4, 4)

Transforms 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_one_to_many