pyrcf.utils.frame_transforms
============================

.. py:module:: pyrcf.utils.frame_transforms

.. autoapi-nested-parse::

   Utility functions to help with coordinate frame transforms.



Attributes
----------

.. autoapisummary::

   pyrcf.utils.frame_transforms.QuatType
   pyrcf.utils.frame_transforms.Vector3D


Classes
-------

.. autoapisummary::

   pyrcf.utils.frame_transforms.PoseTrasfrom


Functions
---------

.. autoapisummary::

   pyrcf.utils.frame_transforms.transform_pose_to_frame
   pyrcf.utils.frame_transforms.twist_transform
   pyrcf.utils.frame_transforms.get_relative_pose_between_vectors


Module Contents
---------------

.. py:data:: QuatType
   :type:  TypeAlias
   :value: np.ndarray


   Numpy array representating quaternion in format [x,y,z,w]

.. py:data:: Vector3D
   :type:  TypeAlias
   :value: np.ndarray


   Numpy array representating 3D cartesian vector in format [x,y,z]

.. py:function:: transform_pose_to_frame(pos_in_frame_1: Vector3D, quat_in_frame_1: QuatType, frame_2_pos_in_frame_1: Vector3D, frame_2_quat_in_frame_1: QuatType) -> Tuple[Vector3D, QuatType]

   Transform a pose from a global frame to a local frame.

   Both the input pose and the local frame's pose should be described in a
   common global frame.

   :param pos_in_frame_1: The position of the input pose object to be transformed in
                          a common global frame.
   :type pos_in_frame_1: Vector3D
   :param quat_in_frame_1: The orientation of the input pose object to be transformed in
                           a common global frame (quaternion: [x,y,z,w]).
   :type quat_in_frame_1: QuatType
   :param frame_2_pos_in_frame_1: Position of the origin of the target coordinate frame
                                  with respect to the common global frame.
   :type frame_2_pos_in_frame_1: Vector3D
   :param frame_2_quat_in_frame_1: The orientation of the target frame in the global
                                   frame.
   :type frame_2_quat_in_frame_1: QuatType

   :returns:

             Position and orientation of the input pose in the new target
                 frame.
   :rtype: Tuple[Vector3D, QuatType]


.. py:function:: twist_transform(twist_a: numpy.ndarray, frame_b_in_a: numpy.ndarray) -> numpy.ndarray

   Transform a twist screw (linear velocity & angular velocity) to another coordinate frame.

   :param twist_a: 6D twist screw (linear x, linear y, linear z, angular x, angular y,
                   angular z)
   :type twist_a: np.ndarray
   :param frame_b_in_a: Transformation matrix of the pose of the new frame in the old
                        frame.
   :type frame_b_in_a: np.ndarray

   :returns:

             Twist screw in the new frame (linear x, linear y, linear z, angular x,
                 angular y, angular z).
   :rtype: np.ndarray


.. py:function:: get_relative_pose_between_vectors(pos1: Vector3D, quat1: QuatType, pos2: Vector3D, quat2: QuatType) -> Tuple[Vector3D, QuatType]

   Given two frame poses in the same coordinate frame, return the pose of
   the second frame with respect to the first.

   :param pos1: Position of the first frame in a global frame.
   :type pos1: Vector3D
   :param quat1: Orientation quaternion of the first frame.
   :type quat1: QuatType
   :param pos2: Position of the second frame in the same global frame.
   :type pos2: Vector3D
   :param quat2: Orientation of the second frame.
   :type quat2: QuatType

   :returns:

             Position and orientation of the second frame
                 with respect to the first.
   :rtype: Tuple[Vector3D, QuatType]


.. py:class:: PoseTrasfrom

   Transform a pose (point and orientation) between PyRCF coordinate frames.


   .. py:method:: TELEOP_FRAME_POSE_IN_WORLD(base_pos_in_world: Vector3D, base_ori_in_world: QuatType) -> Tuple[Vector3D, QuatType]
      :staticmethod:


      This is the definition of the teleop frame.



   .. py:method:: BASE_FRAME_POSE_IN_TELEOP(base_pos_in_world: Vector3D, base_ori_in_world: QuatType) -> Tuple[Vector3D, QuatType]
      :staticmethod:


      This is the definition of the teleop frame.



   .. py:method:: teleop2base(p_in_teleop: Vector3D, q_in_teleop: QuatType, base_pos_in_world: Vector3D, base_ori_in_world: QuatType) -> Tuple[Vector3D, QuatType]
      :staticmethod:


      Transform a pose in teleop frame to base frame.



   .. py:method:: base2teleop(p_in_base: Vector3D, q_in_base: QuatType, base_pos_in_world: Vector3D, base_ori_in_world: QuatType) -> Tuple[Vector3D, QuatType]
      :staticmethod:


      Transform a pose in base frame to teleop frame.



   .. py:method:: teleop2world(p_in_teleop: Vector3D, q_in_teleop: QuatType, base_pos_in_world: Vector3D, base_ori_in_world: QuatType) -> Tuple[Vector3D, QuatType]
      :staticmethod:


      Transform a pose in teleop frame to world frame.



   .. py:method:: world2teleop(p_in_world: Vector3D, q_in_world: QuatType, base_pos_in_world: Vector3D, base_ori_in_world: QuatType) -> Tuple[Vector3D, QuatType]
      :staticmethod:


      Transform a pose in world frame to teleop frame.