skbot.transform.AngleJoint¶
- class skbot.transform.AngleJoint(*, angle=None, degrees=False, axis=- 1, upper_limit=6.283185307179586, lower_limit=0)[source]¶
Rotation with constraints in 2D.
- Parameters
- angleArrayLike
The magnitude of the rotation. If None, it will be set to
lower_limit
.- degreesbool
If True, angle is assumed to be in degrees. Default is False.
- axisint
The axis along which to to compute. Default: -1.
- upper_limitArrayLike
The maximum joint angle. Default: 2pi.
- lower_limitArrayLike
The minimum joint angle. Default: 0.
Notes
Setting
RotationalJoint.angle
will check if the joint angle limits are respected; however, settingRotationalJoint.param
will not.Attributes
affine_matrix
The transformation matrix mapping the parent to the child frame.
angle
The magnitude of the rotation (in radians).
lower_limit
Minimum parameter value.
param
Magnitude of the rotation (in radians).
upper_limit
Maximum parameter value.
Method Summary
__call__
(parent[, child, add_inverse])Add this link to the parent frame.
invert
()Return a new Link that is the inverse of this link.
transform
(x)Expresses the vector x (assumed to be given in the parent's frame) in the child's frame.
Transform x (given in the child frame) into the parent frame.
Methods
- __call__(parent, child=None, *, add_inverse=True)¶
Add this link to the parent frame.
- Parameters
- parentFrame
The Frame from which vectors originate.
- childFrame
The Frame in which vectors are expressed after they were mapped by this link’s transform. If None, a new child will be created.
- add_inversebool
Also add the inverse link to the child if this Link is invertible. Defaults to
True
.
- Returns
- childFrame
The Frame in which vectors are expressed after they were mapped by this link’s transform.
- Return type
- transform(x)¶
Expresses the vector x (assumed to be given in the parent’s frame) in the child’s frame.
- Parameters
- xArrayLike
The vector expressed in the parent’s frame
- Returns
- yArrayLike
The vector expressed in the child’s frame
- Return type
ndarray
- __inverse_transform__(x)¶
Transform x (given in the child frame) into the parent frame.
- Parameters
- xArrayLike
The vector expressed in the childs’s frame
- Returns
- yArrayLike
The vector expressed in the parents’s frame
- Return type
ndarray