Pose and Rotation Conversions
Pose and Rotation Conversions
tfutils converts poses and rotations between representations independent of any TransformTree. This tutorial covers converting between degrees, radians, quaternions, and rotation vectors, plus inversion, error, sorting, and plotting.
Convert Poses and Rotations
Convert between pose and rotation representations - degrees, radians, quaternions, and rotation vectors - independent of any tree.
Pose to Transformation Matrix
Converts a pose to a 4x4 transformation matrix.
View →Transformation Matrix to Pose
Converts a 4x4 transformation matrix to a pose.
View →Invert Transformation Matrix
Inverts a 4x4 transformation matrix.
View →Convert Rotation Format
Converts a rotation between degrees, radians, quaternion, and rotation vector.
View →Convert Pose Format
Converts a pose's rotation between degrees, radians, quaternion, and rotation vector.
View →Convert Quaternion to Scalar First
Converts a quaternion from xyzw to wxyz order.
View →Convert Quaternion to Scalar Last
Converts a quaternion from wxyz to xyzw order.
View →Compute Transformation Matrix Error
Computes the SE(3) error between two transformation matrices.
View →Plot Transformation Frame
Logs a single transform's frame to Rerun, without needing a TransformTree.
View →Sort Poses
Sorts a list of poses by one or more positional axes.
View →Where to Go Next?
Continue to the next tutorial.
Tools & Gripper Interface
Connect to and control an end-effector such as a gripper with Synapse.
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