scipy.spatial.transform._rigid_transform_cy:_create_transformation_matrix

Summary

Create a matrix from translations and rotation matrices. Parameters ---------- translations : array_like, shape (N, 3) or (3,) A stack of translation vectors. rotation_matrices : array_like, shape (N, 3, 3) or (3, 3) A stack of rotation matrices. single : bool Whether the output should be a single matrix or a stack of matrices. Returns ------- matrix : numpy.ndarray, shape (N, 4, 4) A stack of transformation matrices.