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PyPI
Homogeneous Transformation Matrices and Quaternions
Last release 1 months ago
09 Aug 2026
Ships fairly regularly
a new release about every 7 months
Most releases are documented
notes for 11 of 16 stable releases
1 version withdrawn
withdrawn after publishing
8 years old
17 releases · first in 2018
Transformations is a Python library for calculating 4x4 matrices for translating, rotating, reflecting, scaling, shearing, projecting, orthogonalizing
Transformations is a Python library for calculating 4x4 matrices for translating, rotating, reflecting, scaling, shearing, projecting, orthogonalizing, and superimposing arrays of 3D homogeneous coordinates as well as for converting between rotation matrices, Euler angles, and quaternions. Also includes an Arcball control object and functions to decompose transformation matrices.
Fix code review issues.
Make C extension ABI3 and free-threading compatible.
Drop support for Python 3.11 and numpy 2.0 (SPEC0).
Support Python 3.15.
Use multi-phase initialization.
One column per quarter.
Use multi-phase initialization.
Improve code quality.
Drop support for Python 3.10, support Python 3.14.
Drop support for Python 3.10, support Python 3.14.
Drop support for Python 3.9, support Python 3.13.
Drop support for Python 3.9, support Python 3.13.
Nothing published for this version
Fix docstring examples not correctly rendered on GitHub.
Fix docstring examples not correctly rendered on GitHub.
- Support NumPy 2.
Support NumPy 2.
Add dimension check on superimposition_matrix (#2).
Add dimension check on superimposition_matrix (#2).
Remove support for Python 3.7 (NEP 29).
Update metadata
Remove support for Python 3.7 (NEP 29).
Remove support for Python 3.6 (NEP 29).
Remove support for Python 3.6 (NEP 29).
Remove support for Python 2.7 and 3.5.
Remove support for Python 2.7 and 3.5.
- Fix setup requirements.
Fix setup requirements.
Nothing published for this version
Nothing published for this version
Nothing published for this version
Nothing published for this version
Nothing published for this version
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