SBPhysicalMatrix66#

This class represents a spatial matrix, a 6x6 matrix typically used to describe rigid or articulated inertias and inverse inertias.

In a spatial matrix (e.g., an inertia matrix), the 3x3 blocks may have different units, so that spatial matrices are defined by four units, and the SBDTypePhysicalMatrix66 template class is parameterized by four unit types (SBQuantity).

SBPhysicalMatrix66()         # a dimensionless 6x6 matrix
SBPhysicalMatrix66(SBMatrix33(), SBMass33(), SBMatrix33(), SBMass33())

These convenience constructors internally call SBPhysicalMatrix66 with proper SBQuantity and can be used as follows, without specifying the SBQuantity unit:

SBMatrix66()                 # a dimensionless 6x6 matrix with zeros as components

See also

SAMSON SDK: SBDTypePhysicalMatrix66

class samson.SBPhysicalMatrix66(*args, **kwargs)#

Bases: pybind11_object

This class represents spatial matrices.

SAMSON API: SBDTypePhysicalMatrix66

Overloaded function.

  1. __init__(self: samson.SBPhysicalMatrix66) -> None

The default constructor initializes all components to zero.

  1. __init__(self: samson.SBPhysicalMatrix66, arg0: samson.SBPhysicalMatrix33, arg1: samson.SBPhysicalMatrix33, arg2: samson.SBPhysicalMatrix33, arg3: samson.SBPhysicalMatrix33) -> None

Constructs a spatial matrix from four 3x3 matrices.

Parameters:
__add__(self: samson.SBPhysicalMatrix66, arg0: samson.SBPhysicalMatrix66) → samson.SBPhysicalMatrix66#
__eq__(self: samson.SBPhysicalMatrix66, arg0: samson.SBPhysicalMatrix66) → bool#
__iadd__(self: samson.SBPhysicalMatrix66, arg0: samson.SBPhysicalMatrix66) → samson.SBPhysicalMatrix66#
__imul__(*args, **kwargs)#

Overloaded function.

  1. __imul__(self: samson.SBPhysicalMatrix66, arg0: float) -> samson.SBPhysicalMatrix66

  2. __imul__(self: samson.SBPhysicalMatrix66, arg0: samson.SBQuantity.unitsSI) -> samson.SBPhysicalMatrix66

__isub__(self: samson.SBPhysicalMatrix66, arg0: samson.SBPhysicalMatrix66) → samson.SBPhysicalMatrix66#
__itruediv__(*args, **kwargs)#

Overloaded function.

  1. __itruediv__(self: samson.SBPhysicalMatrix66, arg0: float) -> samson.SBPhysicalMatrix66

  2. __itruediv__(self: samson.SBPhysicalMatrix66, arg0: samson.SBQuantity.unitsSI) -> samson.SBPhysicalMatrix66

__mul__(*args, **kwargs)#

Overloaded function.

  1. __mul__(self: samson.SBPhysicalMatrix66, arg0: float) -> samson.SBPhysicalMatrix66

  2. __mul__(self: samson.SBPhysicalMatrix66, arg0: samson.SBPhysicalVector6) -> samson.SBPhysicalVector6

__ne__(self: samson.SBPhysicalMatrix66, arg0: samson.SBPhysicalMatrix66) → bool#
__neg__(self: samson.SBPhysicalMatrix66) → samson.SBPhysicalMatrix66#
__rmul__(self: samson.SBPhysicalMatrix66, arg0: float) → samson.SBPhysicalMatrix66#
__sub__(self: samson.SBPhysicalMatrix66, arg0: samson.SBPhysicalMatrix66) → samson.SBPhysicalMatrix66#
__truediv__(self: samson.SBPhysicalMatrix66, arg0: float) → samson.SBPhysicalMatrix66#
doubleSymmetricPart(self: samson.SBPhysicalMatrix66) → samson.SBPhysicalMatrix66#

Returns twice the symmetric part of the matrix

getColumn(self: samson.SBPhysicalMatrix66, i: int) → samson.SBPhysicalVector6#

Returns the i-th column of this spatial matrix

getE1(self: samson.SBPhysicalMatrix66) → samson.SBPhysicalVector6#

Returns the first column of the spatial matrix

getE2(self: samson.SBPhysicalMatrix66) → samson.SBPhysicalVector6#

Returns the second column of the spatial matrix

getE3(self: samson.SBPhysicalMatrix66) → samson.SBPhysicalVector6#

Returns the third column of the spatial matrix

getE4(self: samson.SBPhysicalMatrix66) → samson.SBPhysicalVector6#

Returns the fourth column of the spatial matrix

getE5(self: samson.SBPhysicalMatrix66) → samson.SBPhysicalVector6#

Returns the fifth column of the spatial matrix

getE6(self: samson.SBPhysicalMatrix66) → samson.SBPhysicalVector6#

Returns the sixth column of the spatial matrix

getRow(self: samson.SBPhysicalMatrix66, i: int) → samson.SBPhysicalVector6#

Returns the i-th row of this spatial matrix

setIdentity(self: samson.SBPhysicalMatrix66) → None#

Sets the spatial matrix to the identity matrix

setZero(self: samson.SBPhysicalMatrix66) → None#

Sets the spatial matrix to zero

str(self: samson.SBPhysicalMatrix66, fullName: bool = False) → str#

Converts the spatial matrix to a string (with a full unit name when fullName is True.)

symmetrize(self: samson.SBPhysicalMatrix66) → None#

Makes the matrix symmetric

transpose(self: samson.SBPhysicalMatrix66) → samson.SBPhysicalMatrix66#

Returns the transpose of this spatial matrix

property isDimensionless#

Returns True if the spatial matrix is dimensionless

property value#