ENH: spatial.transform: baseline implementation of RigidTransform (scipy#22267)

* Draft baseline implementation for ProperRigidTransformations

* ENH: Implement ProperRigidTransformation.from_expcoords

* DOC: Document shape of expcoords

* DOC: More information on exp. coordinate convention

* ENH: Check input shape of expcoords

* TST: Add test for individual components

* Fix Transformation __pow__

* TST: additional tests for from_expcoords

* ENH: Implement ProperRigidTransformation.as_expcoords()

* TST: test ProperRigidTransformation.as_expcoords

* Change from_transrot to from_rottrans, added as_rottrans

* tests for internal consistency

* Normalize rotation matrix input for proper rigid transformations

* Rename ProperRigidTransformation to RigidTransformation

* RigidTransformation docs

* Fix doc build errors

* More RigidTransformation docs

* More docs

* docs cleanup

* Finish up first pass at docs

* fix refguide checks

* more docs updates

tweak

* ENH: Implement RigidTransformation.as_dualquat()

* ENH: implement RigidTransformation.from_dualquat()

* TST: Test RigidTransformation.from/as_dualquat

* ENH: reuse _compose_quat from _rotation.pyx

* TST: Test conversion of pure translation dualquats

* TST: test multiple dualquats

* DOC: Document from_expcoords

* DOC: examples of how to use dualquat/expcoords

* Docs cleanup

* more docs cleanup

* Docs fixes

* build errors

* RigidTransformation __repr__

* docs tweaks

* tests tweaks

* DOC: Add more examples for exp. coordinates

* File rename

* Code review updates

* docs tweak

* reshuffle method order

* rename methods

* Exact check for last row of transformation matrix

* rename doc variables t -> tf, d -> t

* More tests

* ENH: normalize dual quaternions

* MAINT: extract dual quaternion operations

* RigidTransformation.*_rot_trans renamed to *_components

* Input validation for from_rotation

* TST: enforce unit norm of dual quaternion

* TST: test orthogonality after normalization

* TST: from_dual_quat with precision loss

* Extract function

* BUG: fix array shape

* MAINT: vectorize dual quaternion normalization

* MAINT: cdef internal function

* DOC: document that we normalize dual quaternions

* argument order

* ENH: Robust implementation of RigidTransformation.from_exp_coords

* ENH: Robust implementation of RigidTransformation.as_exp_coords

* MNT: Minor adjustment in RigidTransformation.from_exp_coords

* TST: Improve tests for exp_coords

* TST: Move exp_coords reciprocity test into test_from_as_internal_consistency

* DOC: Document exp_coords helper functions

* TST: test special case of invalid dual quaternion

* Code review updates

* code review updates

* More efficient orthonormalization

* More efficient inversion

* Remove RigidTransformation.random()

* Use Rotation.from_matrix for transformation matrix normalization

* Test for left-handed rotation matrix

* Remove normalization checks for speed in RigidTransformation

* docstring

* DOC: remove confusing explanation of exp. coords

* Faster quaternion conjugate

* DOC: More details on SE3 exponential mapping

* DOC: Adjustments for from_exp_coords docstring

* docstring

* DOC: More adjustments to from_exp_coords docstring

* DOC: Clarify expected input for `from_exp_coords`

* Implement RigidTransformation fractional powers

* Rename RigidTransformation to RigidTransform

* rename rigid transform files

* pow docstring

* docstring

* pow docstring

* test for pow equivalence with rotations

---------

Co-authored-by: Scott Shambaugh <[email protected]>
Co-authored-by: Alexander Fabisch <[email protected]>
Co-authored-by: Nikolay Mayorov <[email protected]>

Author: 3 people

mypy.ini

@@ -192,6 +192,9 @@ ignore_missing_imports = True
 [mypy-scipy.spatial.transform._rotation]
 ignore_missing_imports = True
 
+[mypy-scipy.spatial.transform._rigid_transform]
+ignore_missing_imports = True
+
 [mypy-scipy.fft._pocketfft.pypocketfft]
 ignore_missing_imports = True
 

scipy/spatial/transform/__init__.py

@@ -4,25 +4,27 @@
 
 .. currentmodule:: scipy.spatial.transform
 
-This package implements various spatial transformations. For now,
-only rotations are supported.
+This package implements various spatial transformations. For now, rotations
+and rigid transforms (rotations and translations) are supported.
 
 Rotations in 3 dimensions
 -------------------------
 .. autosummary::
    :toctree: generated/
 
+   RigidTransform
    Rotation
    Slerp
    RotationSpline
 """
+from ._rigid_transform import RigidTransform
 from ._rotation import Rotation, Slerp
 from ._rotation_spline import RotationSpline
 
 # Deprecated namespaces, to be removed in v2.0.0
 from . import rotation
 
-__all__ = ['Rotation', 'Slerp', 'RotationSpline']
+__all__ = ['Rotation', 'Slerp', 'RotationSpline', 'RigidTransform']
 
 from scipy._lib._testutils import PytestTester
 test = PytestTester(__name__)