skbot.transform.Translation¶
- class skbot.transform.Translation(direction, *, amount=1, axis=- 1)[source]¶
Translation in N-D.
Changed in version 0.6.0:
directionandscalarmay now be broadcastable arrays- Parameters
- directionArrayLike
A vector, or batch of vectors, 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.
Attributes
affine_matrixThe transformation matrix mapping the parent to the child frame.
amountThe amount by which to scale the direction vector.
directionThe direction in which vectors are translated.
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