# SBPhysicalVector6#

This class represents a physical spatial vector, a six-dimensional vector used to describe rigid-body dynamics and articulated-body dynamics. It has an angular part and a linear part, which may have different units, therefore, it is defined by two units (`SBQuantity`):

• 1st quantity type of the angular part

• 2nd quantity type of the linear part

```SBPhysicalVector6()                         # a dimensionless spatial zero vector
SBPhysicalVector6(1, 2)                     # a dimensionless spatial vector
SBPhysicalVector6(1, 2, 3, 4, 5, 6)         # a dimensionless spatial vector
SBPhysicalVector6([1, 2, 3], [4, 5, 6])     # a dimensionless spatial vector
```

There are multiple convenience constructors available for the commonly used spatial vectors:

These convenience constructors internally call `SBPhysicalVector6` with proper `SBQuantity` and can be used as follows, without specifying the `SBQuantity` unit:

```SBVector6(1.0, 2.0)               # a spatial vector in dimensionless units
SBForce6(0.0, 1.0)                # a spatial vector in energy and force units
SBVelocity6([1, 2, 1],[2, 3, 2])  # a spatial vector in inverseTime and velocity units
```
```SBVector6(1, 2) == SBPhysicalVector6(1, 2)    # True
SBVelocity6(0, 1) == SBPhysicalVector6(SBQuantity.inverseTime(0), SBQuantity.velocity(1))   # True
SBAcceleration6(0, 1) == SBPhysicalVector6(SBQuantity.inverseSquareTime(0), SBQuantity.acceleration(1))   # True
SBForce6(0, 1) == SBPhysicalVector6(SBQuantity.energy(0), SBQuantity.force(1))   # True
```

SAMSON SDK: SBDTypePhysicalVector6

class samson.SBPhysicalVector6(*args, **kwargs)#

Bases: `pybind11_object`

This class represents spatial vectors.

SAMSON API: SBDTypePhysicalVector6

1. __init__(self: samson.SBPhysicalVector6) -> None

Constructs the zero spatial vector [ 0 0 0 0 0 0 ].

1. __init__(self: samson.SBPhysicalVector6, a: samson.SBPhysicalVector3, l: samson.SBPhysicalVector3) -> None

Constructs the spatial vector [ a[0] a[1] a[2] l[0] l[1] l[2] ].

1. __init__(self: samson.SBPhysicalVector6, a: samson.SBQuantity.unitsSI, l: samson.SBQuantity.unitsSI) -> None

Constructs the spatial vector [ a a a l l l ].

1. __init__(self: samson.SBPhysicalVector6, ax: samson.SBQuantity.unitsSI, ay: samson.SBQuantity.unitsSI, az: samson.SBQuantity.unitsSI, lx: samson.SBQuantity.unitsSI, ly: samson.SBQuantity.unitsSI, lz: samson.SBQuantity.unitsSI) -> None

Constructs the spatial vector [ ax ay az lx ly lz ]

1. __init__(self: samson.SBPhysicalVector6, a: list[samson.SBQuantity.unitsSI], l: list[samson.SBQuantity.unitsSI]) -> None

Constructs the spatial vector [ a[0] a[1] a[2] l[0] l[1] l[2] ].

1. __init__(self: samson.SBPhysicalVector6, a: float, l: float) -> None

Constructs the dimensionless spatial vector [ a a a l l l ].

1. __init__(self: samson.SBPhysicalVector6, ax: float, ay: float, az: float, lx: float, ly: float, lz: float) -> None

Constructs the dimensionless spatial vector [ ax ay az lx ly lz ].

1. __init__(self: samson.SBPhysicalVector6, a: list[float], l: list[float]) -> None

Constructs the spatial vector [ a[0] a[1] a[2] l[0] l[1] l[2] ].

__eq__(self: samson.SBPhysicalVector6, arg0: samson.SBPhysicalVector6) bool#
__ge__(self: samson.SBPhysicalVector6, arg0: samson.SBPhysicalVector6) bool#
__gt__(self: samson.SBPhysicalVector6, arg0: samson.SBPhysicalVector6) bool#
__imul__(*args, **kwargs)#

1. __imul__(self: samson.SBPhysicalVector6, arg0: float) -> samson.SBPhysicalVector6

2. __imul__(self: samson.SBPhysicalVector6, arg0: samson.SBQuantity.unitsSI) -> samson.SBPhysicalVector6

__isub__(self: samson.SBPhysicalVector6, arg0: samson.SBPhysicalVector6) #
__itruediv__(*args, **kwargs)#

1. __itruediv__(self: samson.SBPhysicalVector6, arg0: float) -> samson.SBPhysicalVector6

2. __itruediv__(self: samson.SBPhysicalVector6, arg0: samson.SBQuantity.unitsSI) -> samson.SBPhysicalVector6

__le__(self: samson.SBPhysicalVector6, arg0: samson.SBPhysicalVector6) bool#
__lt__(self: samson.SBPhysicalVector6, arg0: samson.SBPhysicalVector6) bool#
__mul__(*args, **kwargs)#

1. __mul__(self: samson.SBPhysicalVector6, arg0: float) -> samson.SBPhysicalVector6

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

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

__ne__(self: samson.SBPhysicalVector6, arg0: samson.SBPhysicalVector6) bool#
__neg__(self: samson.SBPhysicalVector6) #
__rmul__(*args, **kwargs)#

1. __rmul__(self: samson.SBPhysicalVector6, arg0: float) -> samson.SBPhysicalVector6

2. __rmul__(self: samson.SBPhysicalVector6, arg0: samson.SBQuantity.unitsSI) -> samson.SBPhysicalVector6

__sub__(self: samson.SBPhysicalVector6, arg0: samson.SBPhysicalVector6) #
__truediv__(*args, **kwargs)#

1. __truediv__(self: samson.SBPhysicalVector6, arg0: float) -> samson.SBPhysicalVector6

2. __truediv__(self: samson.SBPhysicalVector6, arg0: samson.SBQuantity.unitsSI) -> samson.SBPhysicalVector6

motionCrossForce(self: samson.SBPhysicalVector6, force: samson.SBPhysicalVector6) #

Returns the cross product of this spatial vector with spatial vector force.

setZero(self: samson.SBPhysicalVector6) None#

Sets the components of the spatial vector to zero.

str(self: samson.SBPhysicalVector6, fullName: bool = False) str#

Converts the spatial vector to a string with a full unit name when fullName is True.

property ax#

The ax component.

property ay#

The ay component.

property az#

The az component.

property lx#

The lx component.

property ly#

The ly component.

property lz#

The lz component.

property value#