rigid_transformations.py 文件源码

def matrix(self):
        """:obj:`numpy.ndarray` of float: The canonical 4x4 matrix
        representation of this transform.

        The first three columns contain the columns of the rotation matrix
        followed by a zero, and the last column contains the translation vector
        followed by a one.
        """
        return np.r_[np.c_[self._rotation, self._translation], [[0,0,0,1]]]