transformationmatrix output is unintuitive

TriPed-Robot / trip_kinematics

Python package for inverse kinematic calculations of hybrid serial parallel robots

https://trip-kinematics.readthedocs.io/en/main/

MIT License

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transformationmatrix output is unintuitive #38

Closed liquidcronos closed 2 years ago

liquidcronos commented 3 years ago

one would expect the output of composite transformation matrices to be a a array not a matrix. This is because while it is possible to multiply transformationmatrix objects their main functionality no longer properly functions in this case.

liquidcronos commented 3 years ago

This is proably best resolved by folding the transformation matrix class into the transformation class and extending its functionality accordingly to offer translation and rotation directly

liquidcronos commented 2 years ago

Combining them would also simplify the interfaces since transformation conventions are currently defined in two places