SBSpatialTransform

Contents

SBSpatialTransform#

This class represents a spatial transform.

# Constructs an identity transform
SBSpatialTransform()

# Constructs a transform from an orientation matrix, a position vector and a scale
SBSpatialTransform(SBMatrix33(1), SBPosition3(1,2,3), SBVector3(2))

See also

SAMSON SDK: SBDTypeSpatialTransform

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

Bases: pybind11_object

This class represents spatial transforms.

SAMSON API: SBDTypeSpatialTransform

Overloaded function.

__init__(self: samson.SBSpatialTransform) -> None

Constructs an identity transform.

__init__(self: samson.SBSpatialTransform, orientation: samson.SBPhysicalMatrix33, position: samson.SBPhysicalVector3) -> None

“Constructs a transform from an orientation matrix and a position vector.

Parameters:

orientationMatrix (samson.SBMatrix33) – The orientation matrix.
positionVector (samson.SBPosition3) – The position vector.

__init__(self: samson.SBSpatialTransform, orientation: samson.SBPhysicalMatrix33, position: samson.SBPhysicalVector3, scale: samson.SBPhysicalVector3) -> None

“Constructs a transform from an orientation matrix, a position vector, and a scale vector.

Parameters:

orientationMatrix (samson.SBMatrix33) – The orientation matrix.
positionVector (samson.SBPosition3) – The position vector.
scaleVector (samson.SBVector3) – The scale vector.

__eq__(self: samson.SBSpatialTransform, arg0: samson.SBSpatialTransform) → bool#

__mul__(*args, **kwargs)#

Overloaded function.

__mul__(self: samson.SBSpatialTransform, arg0: samson.SBPhysicalVector3) -> samson.SBPhysicalVector3
__mul__(self: samson.SBSpatialTransform, arg0: samson.SBPhysicalVector6) -> samson.SBPhysicalVector6
__mul__(self: samson.SBSpatialTransform, arg0: samson.SBSpatialTransform) -> samson.SBSpatialTransform

__ne__(self: samson.SBSpatialTransform, arg0: samson.SBSpatialTransform) → bool#

getE1(self: samson.SBSpatialTransform) → samson.SBPhysicalVector3#: Returns the first column of the orientation matrix

getE2(self: samson.SBSpatialTransform) → samson.SBPhysicalVector3#: Returns the second column of the orientation matrix

getE3(self: samson.SBSpatialTransform) → samson.SBPhysicalVector3#: Returns the third column of the orientation matrix

getE4(self: samson.SBSpatialTransform) → samson.SBPhysicalVector3#: Returns the position vector

getE5(self: samson.SBSpatialTransform) → samson.SBPhysicalVector3#: Returns the scale vector

getOrientation(self: samson.SBSpatialTransform) → samson.SBPhysicalMatrix33#: Returns the orientation of the spatial transform

getPosition(self: samson.SBSpatialTransform) → samson.SBPhysicalVector3#: Returns the position of the spatial transform

getScale(self: samson.SBSpatialTransform) → samson.SBPhysicalVector3#: Returns the scale of the spatial transform

static identity() → samson.SBSpatialTransform#: Returns the identity spatial transform.

inverse(self: samson.SBSpatialTransform) → samson.SBSpatialTransform#: Returns the inverse of this transform.

inverseTransformAcceleration(self: samson.SBSpatialTransform, sv: samson.SBPhysicalVector6) → samson.SBPhysicalVector6#: Returns the result of the transformation of the spatial velocity sv by applying the inverse of this transform

inverseTransformVelocity(self: samson.SBSpatialTransform, sa: samson.SBPhysicalVector6) → samson.SBPhysicalVector6#: Returns the result of the transformation of the spatial acceleration sa by applying the inverse of this transform

rightMultiply3D(self: samson.SBSpatialTransform, leftMember: samson.SBSpatialTransform) → samson.SBSpatialTransform#: Returns the product of leftMember and this transform.

rightMultiplyInverse3D(self: samson.SBSpatialTransform, leftMember: samson.SBSpatialTransform) → samson.SBSpatialTransform#: Returns the product of leftMember and the inverse of this transform.

setE1(self: samson.SBSpatialTransform, vec: samson.SBPhysicalVector3) → None#: Sets the first column of the orientation matrix

setE2(self: samson.SBSpatialTransform, vec: samson.SBPhysicalVector3) → None#: Sets the second column of the orientation matrix

setE3(self: samson.SBSpatialTransform, vec: samson.SBPhysicalVector3) → None#: Sets the third column of the orientation matrix

setE4(self: samson.SBSpatialTransform, vec: samson.SBPhysicalVector3) → None#: Sets the position vector

setE5(self: samson.SBSpatialTransform, vec: samson.SBPhysicalVector3) → None#: Sets the scale vector

setIdentity(self: samson.SBSpatialTransform) → None#: Sets this transform to identity.

setOrientation(self: samson.SBSpatialTransform, orientationMatrix: samson.SBPhysicalMatrix33) → None#: Sets the orientation of the spatial transform

setPosition(self: samson.SBSpatialTransform, positionVector: samson.SBPhysicalVector3) → None#: Sets the position of the spatial transform

setScale(self: samson.SBSpatialTransform, scaleVector: samson.SBPhysicalVector3) → None#: Sets the scale of the spatial transform

str(self: samson.SBSpatialTransform, fullName: bool = False) → str#: Converts the spatial transform to a string with a full unit name when fullName is True.

transformAcceleration(self: samson.SBSpatialTransform, sa: samson.SBPhysicalVector6) → samson.SBPhysicalVector6#: Returns the result of the transformation of the spatial acceleration sa

transformForce(self: samson.SBSpatialTransform, sf: samson.SBPhysicalVector6) → samson.SBPhysicalVector6#: Returns the result of the transformation of the spatial force sf

transformInertia(self: samson.SBSpatialTransform, I: samson.SBPhysicalMatrix66) → samson.SBPhysicalMatrix66#: Returns the result of the transformation of the inertia I

transformInertiaLeft(self: samson.SBSpatialTransform, I: samson.SBPhysicalMatrix66) → samson.SBPhysicalMatrix66#: Left-multiplies the inertia I by this spatial transform and returns the result

transformInertiaRight(self: samson.SBSpatialTransform, I: samson.SBPhysicalMatrix66) → samson.SBPhysicalMatrix66#: Right-multiplies the inertia I by this spatial transform and returns the result

transformInverseInertia(self: samson.SBSpatialTransform, phi: samson.SBPhysicalMatrix66) → samson.SBPhysicalMatrix66#: Returns the result of the transformation of the inverse inertia phi

transformInverseInertiaLeft(self: samson.SBSpatialTransform, phi: samson.SBPhysicalMatrix66) → samson.SBPhysicalMatrix66#: Left-multiplies the inverse inertia phi by this spatial transform and returns the result

transformInverseInertiaRight(self: samson.SBSpatialTransform, phi: samson.SBPhysicalMatrix66) → samson.SBPhysicalMatrix66#: Right-multiplies the inverse inertia phi by this spatial transform and returns the result

transformInverseInertiaTransposeRight(self: samson.SBSpatialTransform, phi: samson.SBPhysicalMatrix66) → samson.SBPhysicalMatrix66#: Right-multiplies the transpose of the inverse inertia phi by this spatial transform and returns the result

transformPoint(self: samson.SBSpatialTransform, p: samson.SBPhysicalVector3) → samson.SBPhysicalVector3#: Returns the result of the transformation of the point p

transformVelocity(self: samson.SBSpatialTransform, sv: samson.SBPhysicalVector6) → samson.SBPhysicalVector6#: Returns the result of the transformation of the spatial velocity sv

static zero() → samson.SBSpatialTransform#: Returns the zero spatial transform.