spatialTransform

class samson.DataModel.Type.spatialTransform(*args, **kwargs)

Bases: pybind11_builtins.pybind11_object

This class represents spatial transforms.

SAMSON API: sbdtypespatialtransform

Overloaded function.

1. __init__(self: samson.DataModel.Type.spatialTransform) -> None

The default constructor initializes all components to zero

2. __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.

1. __mul__(self: samson.DataModel.Type.spatialTransform, arg0: samson.DataModel.Type.vector3) -> samson.DataModel.Type.vector3
2. __mul__(self: samson.DataModel.Type.spatialTransform, arg0: samson.DataModel.Type.vector6) -> samson.DataModel.Type.vector6
3. __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)