spatial_casadi.spatial.Translation Class Reference

A class defining a translation vector. More...

Public Member Functions
def	__init__ (self, ArrayType t)
	Initializer for the Translation class. More...
def	__add__ (self, other)
	Compose this translation with the other via vector addition. More...
def	__neg__ (self)
	Negated translation. More...
def	__sub__ (self, other)
	Compose this translation with the other via vector subtraction. More...
ArrayType	as_vector (self)
	Represent as a translation vector. More...
ArrayType	as_matrix (self)
	Represent as homogenous transformation matrix. More...
def	as_transformation (self)
	Represent as homogenous transformation. More...

Static Public Member Functions
def	identity ()
	Get the identity translation. More...
def	random ()
	Generate uniformly distributed translations. More...
def	symbolic ()
	Symbolic representation. More...
def	from_vector (t)
	Initialize from translation vector. More...
def	from_matrix (T)
	Initialize from a homogenous transformation matrix. More...

Private Attributes
	_t

Detailed Description

A class defining a translation vector.

Constructor & Destructor Documentation

__init__()

def spatial_casadi.spatial.Translation.__init__	(		self,
		ArrayType	t
	)

Initializer for the Translation class.

Parameters

t	A 3-dimensional translation vector.

Returns

An instance of the Translation class.

Member Function Documentation

__add__()

def spatial_casadi.spatial.Translation.__add__	(		self,
			other
	)

Compose this translation with the other via vector addition.

Parameters

other

Object containing the translation to be composed with this one.

Returns

The translation that is the result of A + B.

__neg__()

def spatial_casadi.spatial.Translation.__neg__

(

self

)

Negated translation.

Returns

The translation that is the negation of this translation, i.e. -t.

__sub__()

def spatial_casadi.spatial.Translation.__sub__	(		self,
			other
	)

Compose this translation with the other via vector subtraction.

Parameters

other

Object containing the translation to be composed with this one via subtraction.

Returns

The translation that is the result of A - B.

as_matrix()

ArrayType spatial_casadi.spatial.Translation.as_matrix

(

self

)

Represent as homogenous transformation matrix.

Returns

A 4-by-4 homogenous transformation matrix.

as_transformation()

def spatial_casadi.spatial.Translation.as_transformation

(

self

)

Represent as homogenous transformation.

Returns

A instance of the Transformation class with identity rotation.

as_vector()

ArrayType spatial_casadi.spatial.Translation.as_vector

(

self

)

Represent as a translation vector.

Returns

A 3-dimensional translation vector.

from_matrix()

def spatial_casadi.spatial.Translation.from_matrix (   T )

static

Initialize from a homogenous transformation matrix.

Parameters

T	A 4-by-4 homogenous transformation matrix.

Returns

Object containing the translation represented by the input matrix.

from_vector()

def spatial_casadi.spatial.Translation.from_vector (   t )

static

Initialize from translation vector.

Parameters

t	A 3-dimensional translation vector.

Returns

Object containing the translation represented by the input vector.

identity()

def spatial_casadi.spatial.Translation.identity ( )

static

Get the identity translation.

random()

def spatial_casadi.spatial.Translation.random ( )

static

Generate uniformly distributed translations.

Returns

Random translation.

symbolic()

def spatial_casadi.spatial.Translation.symbolic ( )

static

Symbolic representation.

Returns

Symbolic translation.

Member Data Documentation

_t

spatial_casadi.spatial.Translation._t

private

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

• spatial.py