concepts.math.frame_utils_xyzw.compose_transformation#
- compose_transformation(pos1, quat1, pos2, quat2)[source]#
Compose two transformations.
The transformations are represented as a tuple of position and quaternion. The quaternion is represented as a 4-element array in the order of (x, y, z, w), which follows the convention of pybullet.
- Parameters:
pos1 (Tuple[float, float, float] | List[float] | ndarray) – the position of the first transformation.
quat1 (Tuple[float, float, float, float] | List[float] | ndarray) – the quaternion of the first transformation.
pos2 (Tuple[float, float, float] | List[float] | ndarray) – the position of the second transformation.
quat2 (Tuple[float, float, float, float] | List[float] | ndarray) – the quaternion of the second transformation.
- Returns:
the composed transformation, represented as a tuple of position and quaternion.
- Return type: