Transforms

Coordinate-frame transformations for SE(2) and SE(3) poses and points.

Each function comes in two variants:

• Array functions (suffix _array) operate on raw NumPy arrays and support batch dimensions.

• Typed functions (no suffix) accept and return typed geometry objects (PoseSE2, PoseSE3, Point2D, Point3D).

• Transforms in 2D
  • Convert SE2 poses between frames
  • Convert 2D points between frames
  • Translation along body-frame axes
• Transforms in 3D
  • Convert SE3 poses between frames
  • Convert 3D points between frames
  • Translation along body-frame axes