spatialTransform¶
-
class
samson.DataModel.Type.
spatialTransform
(*args, **kwargs)¶ Bases:
pybind11_builtins.pybind11_object
This class represents spatial transforms.
SAMSON API: sbdtypespatialtransform
Overloaded function.
- __init__(self: samson.DataModel.Type.spatialTransform) -> None
The default constructor initializes all components to zero
- __init__(self: samson.DataModel.Type.spatialTransform, orientation: samson.DataModel.Type.matrix33, position: samson.DataModel.Type.vector3) -> None
“Constructs a transform from an orientation matrix and a position vector.
- Args:
- orientationMatrix (dimensionless33): The orientation matrix. positionVector (position3): The position vector.
-
__eq__
(self: samson.DataModel.Type.spatialTransform, arg0: samson.DataModel.Type.spatialTransform) → bool¶
-
__mul__
(*args, **kwargs)¶ Overloaded function.
- __mul__(self: samson.DataModel.Type.spatialTransform, arg0: samson.DataModel.Type.vector3) -> samson.DataModel.Type.vector3
- __mul__(self: samson.DataModel.Type.spatialTransform, arg0: samson.DataModel.Type.vector6) -> samson.DataModel.Type.vector6
- __mul__(self: samson.DataModel.Type.spatialTransform, arg0: samson.DataModel.Type.spatialTransform) -> samson.DataModel.Type.spatialTransform
-
__ne__
(self: samson.DataModel.Type.spatialTransform, arg0: samson.DataModel.Type.spatialTransform) → bool¶
-
getE1
(self: samson.DataModel.Type.spatialTransform) → samson.DataModel.Type.vector3¶ Returns the first column of the orientation matrix
-
getE2
(self: samson.DataModel.Type.spatialTransform) → samson.DataModel.Type.vector3¶ Returns the second column of the orientation matrix
-
getE3
(self: samson.DataModel.Type.spatialTransform) → samson.DataModel.Type.vector3¶ Returns the third column of the orientation matrix
-
getE4
(self: samson.DataModel.Type.spatialTransform) → samson.DataModel.Type.vector3¶ Returns the position vector
-
getOrientation
(self: samson.DataModel.Type.spatialTransform) → samson.DataModel.Type.matrix33¶ Returns the orientation of the spatial transform
-
getPosition
(self: samson.DataModel.Type.spatialTransform) → samson.DataModel.Type.vector3¶ Returns the position of the spatial transform
-
inverse
(self: samson.DataModel.Type.spatialTransform) → samson.DataModel.Type.spatialTransform¶ Returns the inverse of this transform
-
inverseTransformAcceleration
(self: samson.DataModel.Type.spatialTransform, sv: samson.DataModel.Type.vector6) → samson.DataModel.Type.vector6¶ Returns the result of the transformation of the spatial velocity sv by applying the inverse of this transform
-
inverseTransformVelocity
(self: samson.DataModel.Type.spatialTransform, sa: samson.DataModel.Type.vector6) → samson.DataModel.Type.vector6¶ Returns the result of the transformation of the spatial acceleration sa by applying the inverse of this transform
-
rightMultiply3D
(self: samson.DataModel.Type.spatialTransform, leftMember: samson.DataModel.Type.spatialTransform) → samson.DataModel.Type.spatialTransform¶ Returns the product of leftMember and this transform
-
rightMultiplyInverse3D
(self: samson.DataModel.Type.spatialTransform, leftMember: samson.DataModel.Type.spatialTransform) → samson.DataModel.Type.spatialTransform¶ Returns the product of leftMember and the inverse of this transform
-
setE1
(self: samson.DataModel.Type.spatialTransform, vec: samson.DataModel.Type.vector3) → None¶ Sets the first column of the orientation matrix
-
setE2
(self: samson.DataModel.Type.spatialTransform, vec: samson.DataModel.Type.vector3) → None¶ Sets the second column of the orientation matrix
-
setE3
(self: samson.DataModel.Type.spatialTransform, vec: samson.DataModel.Type.vector3) → None¶ Sets the third column of the orientation matrix
-
setE4
(self: samson.DataModel.Type.spatialTransform, vec: samson.DataModel.Type.vector3) → None¶ Sets the position vector
-
setIdentity
(self: samson.DataModel.Type.spatialTransform) → None¶ Sets this transform to identity
-
setOrientation
(self: samson.DataModel.Type.spatialTransform, orientationMatrix: samson.DataModel.Type.matrix33) → None¶ Sets the orientation of the spatial transform
-
setPosition
(self: samson.DataModel.Type.spatialTransform, positionVector: samson.DataModel.Type.vector3) → None¶ Sets the position of the spatial transform
-
str
(self: samson.DataModel.Type.spatialTransform, fullName: bool = False) → str¶ Converts the spatial transform to a string (with a full unit name when fullName is true)
-
transformAcceleration
(self: samson.DataModel.Type.spatialTransform, sa: samson.DataModel.Type.vector6) → samson.DataModel.Type.vector6¶ Returns the result of the transformation of the spatial acceleration sa
-
transformForce
(self: samson.DataModel.Type.spatialTransform, sf: samson.DataModel.Type.vector6) → samson.DataModel.Type.vector6¶ Returns the result of the transformation of the spatial force sf
-
transformInertia
(self: samson.DataModel.Type.spatialTransform, I: samson.DataModel.Type.matrix66) → samson.DataModel.Type.matrix66¶ Returns the result of the transformation of the inertia I
-
transformInertiaLeft
(self: samson.DataModel.Type.spatialTransform, I: samson.DataModel.Type.matrix66) → samson.DataModel.Type.matrix66¶ Left-multiplies the inertia I by this spatial transform and returns the result
-
transformInertiaRight
(self: samson.DataModel.Type.spatialTransform, I: samson.DataModel.Type.matrix66) → samson.DataModel.Type.matrix66¶ Right-multiplies the inertia I by this spatial transform and returns the result
-
transformInverseInertia
(self: samson.DataModel.Type.spatialTransform, phi: samson.DataModel.Type.matrix66) → samson.DataModel.Type.matrix66¶ Returns the result of the transformation of the inverse inertia phi
-
transformInverseInertiaLeft
(self: samson.DataModel.Type.spatialTransform, phi: samson.DataModel.Type.matrix66) → samson.DataModel.Type.matrix66¶ Left-multiplies the inverse inertia phi by this spatial transform and returns the result
-
transformInverseInertiaRight
(self: samson.DataModel.Type.spatialTransform, phi: samson.DataModel.Type.matrix66) → samson.DataModel.Type.matrix66¶ Right-multiplies the inverse inertia phi by this spatial transform and returns the result
-
transformInverseInertiaTransposeRight
(self: samson.DataModel.Type.spatialTransform, phi: samson.DataModel.Type.matrix66) → samson.DataModel.Type.matrix66¶ Right-multiplies the transpose of the inverse inertia phi by this spatial transform and returns the result
-
transformPoint
(self: samson.DataModel.Type.spatialTransform, p: samson.DataModel.Type.vector3) → samson.DataModel.Type.vector3¶ Returns the result of the transformation of the point p
-
transformVelocity
(self: samson.DataModel.Type.spatialTransform, sv: samson.DataModel.Type.vector6) → samson.DataModel.Type.vector6¶ Returns the result of the transformation of the spatial velocity sv
-
__ge__
¶ Return self>=value.
-
__gt__
¶ Return self>value.
-
__le__
¶ Return self<=value.
-
__lt__
¶ Return self<value.
-
identity
= orientation [1.000000 (dimensionless) 0.000000 (dimensionless) 0.000000 (dimensionless)] [0.000000 (dimensionless) 1.000000 (dimensionless) 0.000000 (dimensionless)] [0.000000 (dimensionless) 0.000000 (dimensionless) 1.000000 (dimensionless)] position (0.000000 pm, 0.000000 pm, 0.000000 pm)¶
-
zero
= orientation [0.000000 (dimensionless) 0.000000 (dimensionless) 0.000000 (dimensionless)] [0.000000 (dimensionless) 0.000000 (dimensionless) 0.000000 (dimensionless)] [0.000000 (dimensionless) 0.000000 (dimensionless) 0.000000 (dimensionless)] position (0.000000 pm, 0.000000 pm, 0.000000 pm)¶