warp.transformation#

warp.transformation( p: Vector[Float, Literal[3]], q: Quaternion[Float] = ..., dtype: Float = ..., ) → Transformation[Float]#

Kernel: true
Python: false
Differentiable: true

Construct a transformation from translation p and rotation q.

q is not normalized; transform operations assume it has unit length and may distort otherwise. Autodiff treats the four quaternion components as independent variables and does not enforce unit length. Re-normalize q after applying gradient updates, or use a unit-length parameterization.

All arguments must have the same scalar type. For construction in the Python scope, use warp.transform, warp.transformh, or warp.transformd.

Parameters:

p – Translation vector in (x, y, z) order, added after applying the rotation.
q – Rotation quaternion in (x, y, z, w) order, applied before the translation. It must have unit length.
dtype – Scalar type of the components, inferred from p and q when omitted.

Returns:

The transformation, stored as (p.x, p.y, p.z, q.x, q.y, q.z, q.w), which maps x to quat_rotate(q, x) + p.

Example

@wp.kernel
def make_transforms(out: wp.array[wp.transform]):
    q = wp.quat_from_axis_angle(wp.vec3(0.0, 0.0, 1.0), wp.pi / 2.0)
    out[0] = wp.transformation(wp.vec3(1.0, 2.0, 3.0), q)
    out[1] = wp.transformation(wp.vec3(1.0, 2.0, 3.0))  # identity rotation
    out[2] = wp.transformation(1.0, 2.0, 3.0, 0.0, 0.0, 0.0, 1.0)  # from components

out = wp.empty(3, dtype=wp.transform)
wp.launch(make_transforms, dim=1, outputs=[out])
print(np.round(out.numpy(), 3))

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

warp.transformation( *args: Float, dtype: Float = ..., ) → Transformation[Float]

Kernel: true
Python: false
Differentiable: true

Construct a transformation from component values.

One scalar fills all seven components. Seven scalars specify (px, py, pz, qx, qy, qz, qw) and must have the same type. With no arguments, all components are zero, including the quaternion; use transform_identity() for an identity.

See the overload that accepts p and q for an example.

Parameters:

args – No arguments, one scalar, or seven scalar components.
dtype – Scalar type of the components, inferred from the arguments when omitted.

Returns:

The transformation.