skbot.transform.Rotation

class skbot.transform.Rotation(u, v, *, axis=- 1)[source]

Planar rotation in N-D.

The plane of rotation is described by two vectors (u, v). The initial angle of rotation is twice the angle between u and v (measured from u to v) and can be modified by setting the angle explicitly, e.g. link.angle = np.pi. The angle is measured in radians.

Parameters
uArrayLike

The first vector defining the plane of rotation. The angle is mesured from here.

vArrayLike

The second vector defining the plane of rotation. The angle is measured to here, i.e., from u to v.

Notes

Implements __inverse_transform__.

Attributes

affine_matrix

The transformation matrix mapping the parent to the child frame.

angle

The magnitude of the rotation (in radians).

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)[source]

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)[source]

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