concepts.math.frame_utils_xyzw.frame_mul#

frame_mul(pos_a, quat_a, a_to_b)[source]#

Multiply a frame with a transformation.

The frame is represented as a tuple of position and quaternion. The transformation is 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.