Connect concatenation functions in docs

dfki-ric · Sep 28, 2023 · 6faa9ac · 6faa9ac
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diff --git a/pytransform3d/trajectories.py b/pytransform3d/trajectories.py
@@ -67,6 +67,14 @@ def concat_one_to_many(A2B, B2Cs):
     -------
     A2Cs : array, shape (n_transforms, 4, 4)
         Transforms from frame A to frame C
+
+    See Also
+    --------
+    concat_many_to_one :
+        Concatenate multiple transformations with one.
+
+    pytransform3d.transformations.concat :
+        Concatenate two transformations.
     """
     return np.einsum("nij,jk->nik", B2Cs, A2B)
 
@@ -89,6 +97,14 @@ def concat_many_to_one(A2Bs, B2C):
     -------
     A2Cs : array, shape (n_transforms, 4, 4)
         Transforms from frame A to frame C
+
+    See Also
+    --------
+    concat_one_to_many :
+        Concatenate one transformation with multiple transformations.
+
+    pytransform3d.transformations.concat :
+        Concatenate two transformations.
     """
     return np.einsum("ij,njk->nik", B2C, A2Bs)
 

diff --git a/pytransform3d/transformations/_transform_operations.py b/pytransform3d/transformations/_transform_operations.py
@@ -153,6 +153,20 @@ def concat(A2B, B2C, strict_check=True, check=True):
     -------
     A2C : array-like, shape (4, 4)
         Transform from frame A to frame C
+
+    See Also
+    --------
+    pytransform3d.trajectories.concat_one_to_many :
+        Concatenate one transformation with multiple transformations.
+
+    pytransform3d.trajectories.concat_many_to_one :
+        Concatenate multiple transformations with one.
+
+    pytransform3d.uncertainty.concat_globally_uncertain_transforms :
+        Concatenate two independent globally uncertain transformations.
+
+    pytransform3d.uncertainty.concat_locally_uncertain_transforms :
+        Concatenate two independent locally uncertain transformations.
     """
     if check:
         A2B = check_transform(A2B, strict_check=strict_check)

diff --git a/pytransform3d/uncertainty.py b/pytransform3d/uncertainty.py
@@ -166,6 +166,14 @@ def concat_globally_uncertain_transforms(mean_A2B, cov_A2B, mean_B2C, cov_B2C):
     cov_A2C : array, shape (6, 6)
         Covariance of new pose. Models uncertainty in frame C.
 
+    See Also
+    --------
+    concat_locally_uncertain_transforms :
+        Concatenate two independent locally uncertain transformations.
+
+    pytransform3d.transformations.concat :
+        Concatenate two transformations.
+
     References
     ----------
     Barfoot, Furgale: Associating Uncertainty With Three-Dimensional Poses for
@@ -302,6 +310,14 @@ def concat_locally_uncertain_transforms(mean_A2B, mean_B2C, cov_A, cov_B):
     cov_A_total : array, shape (6, 6)
         Covariance of accumulated noise in frame A.
 
+    See Also
+    --------
+    concat_globally_uncertain_transforms :
+        Concatenate two independent globally uncertain transformations.
+
+    pytransform3d.transformations.concat :
+        Concatenate two transformations.
+
     References
     ----------
     Meyer, Strobl, Triebel: The Probabilistic Robot Kinematics Model and its