skbot.transform.RotationalJoint

class skbot.transform.RotationalJoint(rotvec, *, angle=None, degrees=False, axis=- 1, upper_limit=6.283185307179586, lower_limit=0)[source]

Rotation with constraints in 3D.

Parameters
rotvecArrayLike

The vector around which points are rotated.

angleArrayLike

The magnitude of the rotation. If None, the length of vector will be used.

degreesbool

If True, angle is assumed to be in degrees. Default is False.

axisint

The axis along which to to compute. Default: -1.

upper_limitArrayLike

The maximum joint angle. Default: 2pi.

lower_limitArrayLike

The minimum joint angle. Default: 0.

Notes

Batch dimensions of rotvec and angle must be broadcastable.

Setting RotationalJoint.angle will check if the joint angle limits are respected; however, setting RotationalJoint.param will not.

Attributes

affine_matrix

The transformation matrix mapping the parent to the child frame.

angle

The magnitude of the rotation (in radians).

param

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)

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