pytransform3d.trajectories.pqs_from_transforms

pytransform3d.trajectories.pqs_from_transforms(A2Bs)[source]

Get sequence of positions and quaternions from homogeneous matrices.

Parameters
A2Bsarray-like, shape (…, 4, 4)

Poses represented by homogeneous matrices

Returns
Parray, shape (n_steps, 7)

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

Examples using pytransform3d.trajectories.pqs_from_transforms