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
- 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)¶