spatial_casadi.spatial.Transformation Class Reference

A class for representing homogenous transformations. More...

Public Member Functions
def	__init__ (self, Rotation rotation, Translation translation)
	Initializer for the Transformation class. More...
def	inv (self)
	Invert this homogeneous transformation. More...
Translation	translation (self)
	Return the translation part of the homogeneous transformation. More...
Rotation	rotation (self)
	Return the rotation part of the homogeneous transformation. More...
ArrayType	as_matrix (self)
	Represent as homogenous transformation matrix. More...
def	__mul__ (self, other)
	Compose this transformation with the other. More...
def	flatten (self)
	Returns the homogenous transform as a vector representation [quat, t] where quat is a unit-quaternion for the rotation and t is the translation. More...

Static Public Member Functions
def	identity ()
	Get the identity homogenous transform. More...
def	random ()
	Generate uniformly distributed homogeneous transforms. More...
def	symbolic ()
	Symbolic representation. More...
def	from_matrix (ArrayType T)
	Initialize from homogenous transformation matrix. More...

Private Attributes
	_rotation
	Rotation object. More...
	_translation
	Translation object. More...

Detailed Description

A class for representing homogenous transformations.

Constructor & Destructor Documentation

__init__()

def spatial_casadi.spatial.Transformation.__init__	(		self,
		Rotation	rotation,
		Translation	translation
	)

Initializer for the Transformation class.

Parameters

rotation	The rotation part of the homogenous transformation.
translation	The translation part of the homogenous transformation.

Returns

An instance of the Transformation class.

Member Function Documentation

__mul__()

def spatial_casadi.spatial.Transformation.__mul__	(		self,
			other
	)

Compose this transformation with the other.

Parameters

other

Object containing the transformation to be composed with this one. Note that transformation compositions are not commutative, so p * q is different from q * p.

Returns

The homgeonous transformation that is the product A * B.

as_matrix()

ArrayType spatial_casadi.spatial.Transformation.as_matrix

(

self

)

Represent as homogenous transformation matrix.

Returns

A 4-by-4 homogenous transformation matrix.

flatten()

def spatial_casadi.spatial.Transformation.flatten

(

self

)

Returns the homogenous transform as a vector representation [quat, t] where quat is a unit-quaternion for the rotation and t is the translation.

Returns

Vector representation for the homogeneous transform.

from_matrix()

def spatial_casadi.spatial.Transformation.from_matrix ( ArrayType  T )

static

Initialize from homogenous transformation matrix.

Parameters

matrix

A 4-by-4 homogeneous transformation matrix.

Returns

Object containing the homogeneous transformation represented by the matrix.

identity()

def spatial_casadi.spatial.Transformation.identity ( )

static

Get the identity homogenous transform.

inv()

def spatial_casadi.spatial.Transformation.inv

(

self

)

Invert this homogeneous transformation.

random()

def spatial_casadi.spatial.Transformation.random ( )

static

Generate uniformly distributed homogeneous transforms.

Returns

Random homogeneous transform.

rotation()

Rotation spatial_casadi.spatial.Transformation.rotation

(

self

)

Return the rotation part of the homogeneous transformation.

Returns

The rotation part of the homogeneous transformation.

symbolic()

def spatial_casadi.spatial.Transformation.symbolic ( )

static

Symbolic representation.

Returns

Symbolic homogenous transform.

translation()

Translation spatial_casadi.spatial.Transformation.translation

(

self

)

Return the translation part of the homogeneous transformation.

Returns

The translation part of the homogeneous transformation.

Member Data Documentation

_rotation

spatial_casadi.spatial.Transformation._rotation

private

Rotation object.

_translation

spatial_casadi.spatial.Transformation._translation

private

Translation object.

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The documentation for this class was generated from the following file:

• spatial.py