Transforms in 2D

Transform 2D points between frames

py123d.geometry.transform.convert_absolute_to_relative_points_2d_array(origin, points_2d_array)

Converts an absolute 2D point array from global to relative coordinates.

Parameters:

• origin (Union[PoseSE2, ndarray[tuple[Any, ...], dtype[float64]]]) – origin pose of relative coords system

• points_2d_array (ndarray[tuple[Any, ...], dtype[float64]]) – array of 2D points with (x,y) in last dim

Return type:

ndarray[tuple[Any, ...], dtype[float64]]

Returns:

2D points array in relative coordinates

py123d.geometry.transform.convert_relative_to_absolute_points_2d_array(origin, points_2d_array)

Converts relative 2D point array to absolute coordinates.

Parameters:

• origin (Union[PoseSE2, ndarray[tuple[Any, ...], dtype[float64]]]) – origin pose of relative coords system

• points_2d_array (ndarray[tuple[Any, ...], dtype[float64]]) – array of 2D points with (x,y) in last dim

Return type:

ndarray[tuple[Any, ...], dtype[float64]]

Returns:

2D points array in absolute coordinates

py123d.geometry.transform.convert_points_2d_array_between_origins(from_origin, to_origin, points_2d_array)

Converts 2D points from one origin frame to another origin frame.

Parameters:

• from_origin (Union[PoseSE2, ndarray[tuple[Any, ...], dtype[float64]]]) – The source origin state in the absolute frame, as a PoseSE2 or np.ndarray.

• to_origin (Union[PoseSE2, ndarray[tuple[Any, ...], dtype[float64]]]) – The target origin state in the absolute frame, as a PoseSE2 or np.ndarray.

• points_2d_array (ndarray[tuple[Any, ...], dtype[float64]]) – The 2D points in the source origin frame.

Raises:

TypeError – If the origins are not PoseSE2 or np.ndarray.

Return type:

ndarray[tuple[Any, ...], dtype[float64]]

Returns:

The 2D points in the target origin frame, indexed by Point2DIndex.

Transform SE2 poses between frames

py123d.geometry.transform.convert_absolute_to_relative_se2_array(origin, pose_se2_array)

Converts an StateSE2 array from global to relative coordinates.

Parameters:

• origin (Union[PoseSE2, ndarray[tuple[Any, ...], dtype[float64]]]) – origin pose of relative coords system

• pose_se2_array (ndarray[tuple[Any, ...], dtype[float64]]) – array of SE2 poses with (x,y,yaw), indexed by PoseSE2Index, in last dim

Return type:

ndarray[tuple[Any, ...], dtype[float64]]

Returns:

SE2 array, index by PoseSE2Index, in last dim

py123d.geometry.transform.convert_relative_to_absolute_se2_array(origin, pose_se2_array)

Converts an StateSE2 array from global to relative coordinates.

Parameters:

• origin (Union[PoseSE2, ndarray[tuple[Any, ...], dtype[float64]]]) – origin pose of relative coords system

• pose_se2_array (ndarray[tuple[Any, ...], dtype[float64]]) – array of SE2 poses with (x,y,θ) in last dim

Return type:

ndarray[tuple[Any, ...], dtype[float64]]

Returns:

SE2 coords array in relative coordinates

py123d.geometry.transform.convert_se2_array_between_origins(from_origin, to_origin, se2_array)

Converts an SE2 array from one origin frame to another origin frame.

Parameters:

• from_origin (Union[PoseSE2, ndarray[tuple[Any, ...], dtype[float64]]]) – The source origin state in the absolute frame, as a PoseSE2 or np.ndarray.

• to_origin (Union[PoseSE2, ndarray[tuple[Any, ...], dtype[float64]]]) – The target origin state in the absolute frame, as a PoseSE2 or np.ndarray.

• se2_array (ndarray[tuple[Any, ...], dtype[float64]]) – The SE2 array in the source origin frame.

Raises:

TypeError – If the origins are not PoseSE2 or np.ndarray.

Return type:

ndarray[tuple[Any, ...], dtype[float64]]

Returns:

The SE2 array in the target origin frame, indexed by PoseSE2Index.

Translation along frame axes

py123d.geometry.transform.translate_se2_along_body_frame(pose_se2, translation)

Translate a single SE2 state along its local coordinate frame.

Parameters:

• pose_se2 (PoseSE2) – SE2 state to translate

• translation (Vector2D) – 2D translation in local frame (x: forward, y: left)

Return type:

PoseSE2

Returns:

translated SE2 state

py123d.geometry.transform.translate_se2_along_x(pose_se2, distance)

Translate a single SE2 state along its local X-axis.

Parameters:

• pose_se2 (PoseSE2) – SE2 state to translate

• distance (float) – distance to translate along the local X-axis

Return type:

PoseSE2

Returns:

translated SE2 state

py123d.geometry.transform.translate_se2_along_y(pose_se2, distance)

Translate a single SE2 state along its local Y-axis.

Parameters:

• pose_se2 (PoseSE2) – SE2 state to translate

• distance (float) – distance to translate along the local Y-axis

Return type:

PoseSE2

Returns:

translated SE2 state

py123d.geometry.transform.translate_se2_array_along_body_frame(pose_se2_array, translation)

Translate an array of SE2 states along their respective local coordinate frames.

Parameters:

• pose_se2_array (ndarray[tuple[Any, ...], dtype[float64]]) – array of SE2 states with (x,y,yaw) in last dim

• translation (Vector2D) – 2D translation in local frame (x: forward, y: left)

Return type:

ndarray[tuple[Any, ...], dtype[float64]]

Returns:

translated SE2 array

py123d.geometry.transform.translate_2d_along_body_frame(points_2d, yaws, x_translate, y_translate)

Translate 2D points along their body frame.

Parameters:

• points_2d (ndarray[tuple[Any, ...], dtype[float64]]) – Array of 2D points, indexed by Point2DIndex.

• yaws (ndarray[tuple[Any, ...], dtype[float64]]) – Array of yaw angles.

• x_translate (ndarray[tuple[Any, ...], dtype[float64]]) – Array of x translation, i.e. forward translation.

• y_translate (ndarray[tuple[Any, ...], dtype[float64]]) – Array of y translation, i.e. left translation.

Return type:

ndarray[tuple[Any, ...], dtype[float64]]

Returns:

Array of translated 2D points, indexed by Point2DIndex.