`scipy.spatial.transform._rigid_transform:RigidTransform.from_translation`

source: /scipy/spatial/transform/_rigid_transform.py:617

Signature

staticmethoddef from_translation(translation: ArrayLike) → RigidTransform

Summary

Initialize from a translation numpy array, without a rotation.

Extended Summary

When applying this transform to a vector v, the result is the same as if the translation and vector were added together. If t is the displacement vector of the translation, then:

Tf.from_translation(t).apply(v) == t + v

Parameters

translation : array_like, shape (..., 3): Translation vectors. Each translation[..., :] represents a 3D translation vector.

Returns

transform : `RigidTransform` instance: Object containing the rigid transform represented by the input translation.

Examples

from scipy.spatial.transform import RigidTransform as Tf
import numpy as np

✓

Creating a transform from a single translation vector:

t = np.array([2, 3, 4])
t + np.array([1, 0, 0])
tf = Tf.from_translation(t)
tf.apply([1, 0, 0])
tf.single

✓

True

The top 3x1 points in the rightmost column of the transformation matrix is the translation vector:

tf.as_matrix()
np.allclose(tf.as_matrix()[:3, 3], t)

✓

True

Creating multiple transforms from an N-dimensional array of translation vectors:

t = np.array([[2, 3, 4], [1, 0, 0]])
t + np.array([1, 0, 0])
tf = Tf.from_translation(t)
tf.apply([1, 0, 0])
np.allclose(tf.as_matrix()[:, :3, 3], t)
tf.single
len(tf)

✓

Aliases

scipy.spatial.transform.RigidTransform.from_translation