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

See also

SAMSON SDK: SBDTypePhysicalVector6

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

Bases: pybind11_object

This class represents spatial vectors.

SAMSON API: SBDTypePhysicalVector6

Overloaded function.

  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] ].

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

Overloaded function.

  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) → samson.SBPhysicalVector6#
__itruediv__(*args, **kwargs)#

Overloaded function.

  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)#

Overloaded function.

  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) → samson.SBPhysicalVector6#
__rmul__(*args, **kwargs)#

Overloaded function.

  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) → samson.SBPhysicalVector6#
__truediv__(*args, **kwargs)#

Overloaded function.

  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) → 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#