Class Transform

Rotation and translation represented as 3 x 3 matrix

Instance Methods

__init__(self, matrix=None)

inverse(self)
Returns transformation matrix that is the inverse of this one

compose(self, trans)
Returns composition of self and trans

pose(self)
Convert to Pose

applyToPoint(self, point)
Transform a point into a new point.

applyToPose(self, pose)
Transform a pose into a new pose.

__repr__(self)

Instance Variables
	matrix matrix representation of transform