Transform Class

The Transform class contains all of the requirements to transform a vector, pose or wrench to another coordinate frame.

Member Variables

Name	Type	Description
`name`	`str`	Name to give to transform (must be set for every new instance).
`orig`	`str`	Name given to origin frame of reference.
`dest`	`str`	Name given to destination frame of reference.
`translation`	`np.ndarray`	Translation vector assigned to transformation (set to 0 at new instance).
`rotation`	`scipy.spatial.transform.Rotation`	Rotation class assigned to transformation (set to identity at new instance).

Name	Description
`print`	Print rotation and translation of transformation to console (will print rotation as euler angles in degrees).
`inv`	Create new transformation that is the inverse of the current transformation.
`apply`	Apply transformation to an `input` (can be a vector or a pose).
`matrix`	Return a transformation matrix of the current transformation (can be homogeneous or not - Default: `True`)
`random`	Assign random values to the rotation and translation elements of the transformation.

Name	Description	Code Link	Documentation Link
`numpy`	The fundamental package for scientific computing with Python	https://github.com/numpy/numpy	https://numpy.org/doc/
`scipy`	General management of scientific data	https://github.com/scipy/scipy	https://docs.scipy.org/doc/scipy-1.8.1/