Geometry#
- class Config#
Type alias for
List[float]
as a joint configuration of a robot.
- class Frame#
Represents a transformation or pose in 3D Cartesian space.
- __init__(*, x: float, y: float, z: float, a: float, b: float, c: float, qw: float, qx: float, qy: float, qz: float)#
Create a frame by keyworld-only arguments. Note that only either Euler angles (a, b, c) or Quaternions (qw, qx, qy, qz) are allowed.
- static from_quaternion(x: float, y: float, z: float, qw: float, qx: float, qy: float, qz: float) Frame #
- static from_euler(x: float, y: float, z: float, a: float, b: float, c: float) Frame #
The angles a, b, c are using the extrinsic XYZ convention.
- property translation: List[float]#
Cartesian position
[x, y, z]
of the frame.
- property matrix: List[float]#
Flattened 4x4 matrix representation of the frame.
- property euler: List[float]#
The angles a, b, c are using the extrinsic XYZ convention.
- property quaternion: List[float]#
The rotation as a list
[w, x, y, z]
of the quaternion.
- class Twist#
Represents a velocity in 3D Cartesian space.