parameters: (self, R: Rotation)
docstring: Premultiplies every rotation in here by the so3 element
          R. In other words, if R rotates a local frame F to frame F',
          this method converts this SO3HermiteTrajectory from coordinates in F
          to coordinates in F
docstring_summary: Premultiplies every rotation in here by the so3 element
          R. In other words, if R rotates a local frame F to frame F',
          this method converts this SO3HermiteTrajectory from coordinates in F
          to coordinates in F
docstring_tokens: Premultiplies every rotation in here by the so3 element R . In other words if R rotates a local frame F to frame F this method converts this SO3HermiteTrajectory from coordinates in F to coordinates in F
function: def preTransform(self, R: Rotation) -> None:
          """Premultiplies every rotation in here by the so3 element
          R. In other words, if R rotates a local frame F to frame F',
          this method converts this SO3HermiteTrajectory from coordinates in F
          to coordinates in F'"""
          for i,m in enumerate(self.milestones):
              assert len(m) == 18
              mq = m[:9]
              mv = m[9:]
              self.milestones[i] = so3.mul(R,mq) + so3.mul(R,mv)
function_tokens: def preTransform ( self , R : Rotation ) -> None : for i , m in enumerate ( self . milestones ) : assert len ( m ) == 18 mq = m [ : 9 ] mv = m [ 9 : ] self . milestones [ i ] = so3 . mul ( R , mq ) + so3 . mul ( R , mv )