ktk.geometry.get_local_coordinates#
- get_local_coordinates(global_coordinates, reference_frames)[source]#
Express global coordinates in local reference frames.
- Parameters:
global_coordinates (ArrayLike) –
The global coordinates, as a series of N points, vectors or matrices. For example:
A series of N points or vectors : Nx4
A series of N set of M points or vectors : Nx4xM
A series of N 4x4 transformation matrices : Nx4x4
reference_frames (ArrayLike) – A series of N reference frames (Nx4x4) to express the global coordinates in.
- Returns:
Series of local coordinates in the same shape than global_coordinates.
- Return type:
np.ndarray
See also