pyrobosim.utils.polygon.transform_polygon

pyrobosim.utils.polygon.transform_polygon(polygon: Polygon, pose: Pose) → Polygon

Transforms a Shapely polygon by a Pose object. The order of operations is first translation, and then rotation about the new translated position.

Parameters:

• poly – Shapely polygon.

• pose – Pose to transform the polygon.

Returns:

The transformed Shapely polygon.