skbot.transform.Translation¶
- class skbot.transform.Translation(direction, *, amount=1, axis=- 1)[source]¶
Translation in N-D.
Changed in version 0.6.0:
direction
andscalar
may 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_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.
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