rigid_body_motion.ReferenceFrame.lookup_transform¶

ReferenceFrame.lookup_transform(to_frame)[source]¶

Look up the transformation from this frame to another.

Parameters

to_frame: str or ReferenceFrame: The target reference frame. If str, the frame will be looked up in the registry under that name.

Returns

t: array_like, shape (3,) or (n_timestamps, 3): The translation from this frame to the target frame.
r: array_like, shape (4,) or (n_timestamps, 4): The rotation from this frame to the target frame.
ts: array_like, shape (n_timestamps,) or None: The timestamps for which the transformation is defined.