A directional relationship between two Frames
An abstract class that describes a transformation from a parent frame into a
child frame. Its default use is to express a vector given in the parent
frame using the child frame.
Link.transformation may raise a NotImplementedError if the link
doesn’t support affine transformation matrices, or if the matrix doesn’t exist.
A affine matrix describing the transformation from the parent frame to
the child frame.
__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