skbot.transform.PrismaticJoint

class skbot.transform.PrismaticJoint(direction, *, upper_limit=1, lower_limit=0, amount=1, axis=- 1)

Translation with constraints in 3D.

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, setting PrismaticJoint.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.
param	The amount by which to scale the direction vector.

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.
__inverse_transform__(x)	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

Frame

invert()

Return a new Link that is the inverse of this link.

Return type

Frame

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

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skbot.transform.CustomLink