warp.transform_get_translation

warp.transform_get_translation(

xform: Transformation[Float],

) → Vector[Float, Literal[3]]

• Kernel: true
• Python: true
• Differentiable: true

Return the translation component of xform (xform.p).

Parameters:

xform – Transformation to read from.

Returns:

The translation from components 0 through 2 of xform, as a 3D vector of the same scalar type as xform.

Example

@wp.kernel
def split(
    xforms: wp.array[wp.transform],
    translations: wp.array[wp.vec3],
    rotations: wp.array[wp.quat],
):
    i = wp.tid()
    translations[i] = wp.transform_get_translation(xforms[i])
    rotations[i] = wp.transform_get_rotation(xforms[i])

xform = wp.transform(wp.vec3(1.0, 2.0, 3.0), wp.quat_rpy(0.0, 0.0, wp.pi / 2.0))
xforms = wp.array([xform], dtype=wp.transform)
translations = wp.empty(1, dtype=wp.vec3)
rotations = wp.empty(1, dtype=wp.quat)
wp.launch(split, dim=1, inputs=[xforms], outputs=[translations, rotations])
print(np.round(translations.numpy(), 3))
print(np.round(rotations.numpy(), 3))

[[1. 2. 3.]]
[[0.    0.    0.707 0.707]]