skbot.transform.PrismaticJoint¶
- class skbot.transform.PrismaticJoint(direction, *, upper_limit=1, lower_limit=0, amount=1, axis=- 1)[source]¶
Translation with constraints in N-D.
- Parameters
- directionArrayLike
A vector describing the translation.
- amountArrayLike
A scalar indicating by how much to scale
direction
. Default is 1.- axisint
The axis along which computation takes place. All other axes are considered batch dimensions.
- upper_limitArrayLike
The maximum value of amount. Default: 1.
- lower_limitArrayLike
The minimum value of amount. Default: 0.
Notes
Setting
PrismaticJoint.amount
will enforce joint limits; however, settingPrismaticJoint.param
will not.Attributes
affine_matrix
The transformation matrix mapping the parent to the child frame.
amount
The amount by which to scale the direction vector.
direction
The direction in which vectors are translated.
lower_limit
Minimum parameter value.
param
The amount by which to scale the direction vector.
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