Rigid3d Tutorial May 2026

Quaterniond q = T_ab.unit_quaternion(); // rotation as quaternion Vector3d t = T_ab.translation();

[ p_B = R_AB \cdot p_A + t_AB ]

p_a = np.array([0, 1, 0]) p_b = T[:3,:3] @ p_a + T[:3,3] print(p_b) # [0., 0., 0.] If you have ( T_bc ) and ( T_ab ), the transform from ( a ) to ( c ) is: rigid3d tutorial

SE3d T_ba = T_ab.inverse();