scipy.spatial.transform.RigidTransform.

scipy.spatial.transform.RigidTransform.translation

RigidTransform.translation

Return the translation component of the transform.

A transform is a composition of a rotation and a translation, such that when applied to a vector, the vector is first rotated and then translated. This property returns the translation part of the transform.

Returns:

translationnumpy.ndarray, shape (N, 3) or (3,)

A single translation vector or a stack of translation vectors.

Examples

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>>> from scipy.spatial.transform import RigidTransform as Tf
>>> from scipy.spatial.transform import Rotation as R
>>> import numpy as np

The translation component is extracted from the transform:

>>> t = np.array([[1, 0, 0], [2, 0, 0], [3, 0, 0]])
>>> r = R.random()
>>> tf = Tf.from_components(t, r)
>>> np.allclose(tf.translation, t)
True

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