A link representing a custom transformation.
Initialize a new link from the callable transformation that transforms a
vector from the parent frame to the child frame. This link can represent
arbitrary transformations between two frames.
The frame in which vectors are specified.
The frame into which this link transforms vectors.
A callable that takes a vector - in the parent frame - as input and
returns the vector in the child frame.
This function does not implement Link.__inverse_transform__().
__call__(parent[, child, add_inverse])
Add this link to the parent frame.
Returns a new link that is the inverse of this link.
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.
The Frame from which vectors originate.
The Frame in which vectors are expressed after they were mapped by
this link’s transform. If None, a new child will be created.
Also add the inverse link to the child if this Link is invertible.
Defaults to True.
The Frame in which vectors are expressed after they were mapped
by this link’s transform.
The links share parameters, i.e., if the transform of a link changes,
the transform of its inverse does also.
Expresses the vector x (assumed to be given in the parent’s frame) in
the child’s frame.
The vector expressed in the parent’s frame
The vector expressed in the child’s frame
The vector expressed in the childs’s frame
The vector expressed in the parents’s frame