skbot.transform.RotvecRotation¶

class skbot.transform.RotvecRotation(rotvec, *, angle=None, degrees=False, axis=- 1)[source]¶

Rotation based on rotation vector 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.

Notes

Batch dimensions of rotvec and angle must be broadcastable.

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.

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.

Parameters

Returns

__inverse_transform__(x)¶

Transform x (given in the child frame) into the parent frame.

Parameters

Returns

skbot.transform.QuaternionRotation

skbot.transform.FrustumProjection