jaxtransform3d.transformations.apply_transform

jaxtransform3d.transformations.apply_transform(T: Array | ndarray | bool_ | number | bool | int | float | complex, v: Array | ndarray | bool_ | number | bool | int | float | complex) → Array

Apply transformation matrix to vector.

\[\boldsymbol{w} = \boldsymbol{R} \boldsymbol{v} + \boldsymbol{t}\]

Parameters:

Tarray-like, shape (…, 4, 4) or (4, 4)

Transformation matrix.

varray-like, shape (…, 3) or (3,)

3d vector.

Returns:

warray, shape (…, 3) or (3,)

3d vector.