jaxtransform3d.transformations.create_transform

jaxtransform3d.transformations.create_transform(R: Array | ndarray | bool_ | number | bool | int | float | complex, t: Array | ndarray | bool_ | number | bool | int | float | complex) → Array

Make transformation from rotation matrix and translation.

\[\begin{split}\boldsymbol{T} = \left( \begin{array}{cc} \boldsymbol{R} & \boldsymbol{t}\\ \boldsymbol{0} & 1 \end{array} \right) \in SE(3)\end{split}\]

Parameters:

Rarray-like, shape (…, 3, 3)

Rotation matrix.

tarray-like, shape (…, 3)

Translation.

Returns:

Tarray, shape (…, 4, 4)

Transformation matrix.