pyrobosim.utils.polygon.transform_polygon

pyrobosim.utils.polygon.transform_polygon(polygon, pose)

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.geometry.Polygon) – Shapely polygon.

• pose (pyrobosim.utils.pose.Pose) – Pose to transform the polygon.

Returns:

The transformed Shapely polygon.

Return type:

shapely.geometry.Polygon