documentation_pybind_snippet.h

// Starting from L39937, drake @ c6f0525c9
// ...
        // Symbol: drake::math::RigidTransform::RigidTransform<T>
        struct /* ctor */ {
          // Source: drake/math/rigid_transform.h:73
          const char* doc_0args =
R"""(Constructs the RigidTransform that corresponds to aligning the two
frames so unit vectors Ax = Bx, Ay = By, Az = Bz and point Ao is
coincident with Bo. Hence, the constructed RigidTransform contains an
identity RotationMatrix and a zero position vector.)""";
          // Source: drake/math/rigid_transform.h:82
          const char* doc_2args_R_p =
R"""(Constructs a RigidTransform from a rotation matrix and a position
vector.

Parameter ``R``:
    rotation matrix relating frames A and B (e.g., ``R_AB``).

Parameter ``p``:
    position vector from frame A's origin to frame B's origin,
    expressed in frame A. In monogram notation p is denoted
    ``p_AoBo_A``.)""";
          // Source: drake/math/rigid_transform.h:91
          const char* doc_2args_rpy_p =
R"""(Constructs a RigidTransform from a RollPitchYaw and a position vector.

Parameter ``rpy``:
    a RollPitchYaw which is a Space-fixed (extrinsic) X-Y-Z rotation
    with "roll-pitch-yaw" angles ``[r, p, y]`` or equivalently a Body-
    fixed (intrinsic) Z-Y-X rotation with "yaw-pitch-roll" angles
    ``[y, p, r]``.

See also:
    RotationMatrix::RotationMatrix(const RollPitchYaw<T>&)

Parameter ``p``:
    position vector from frame A's origin to frame B's origin,
    expressed in frame A. In monogram notation p is denoted
    ``p_AoBo_A``.)""";
// ...