pytransform3d.trajectories.matrices_from_pos_quat

pytransform3d.trajectories.matrices_from_pos_quat(P, normalize_quaternions=True)

Get sequence of homogeneous matrices from positions and quaternions.

Parameters
Parray-like, shape (…, 7)

Poses represented by positions and quaternions in the order (x, y, z, qw, qx, qy, qz)

normalize_quaternionsbool, optional (default: True)

Normalize quaternions before conversion

Returns
A2Bsarray, shape (…, 4, 4)

Poses represented by homogeneous matrices

Examples using pytransform3d.trajectories.matrices_from_pos_quat