ostk.physics.coordinate.Transform¶

class Transform(self: ostk.physics.coordinate.Transform, instant: ostk.physics.time.Instant, translation: numpy.ndarray[numpy.float64[3, 1]], velocity: numpy.ndarray[numpy.float64[3, 1]], orientation: ostk.mathematics.geometry.d3.transformation.rotation.Quaternion, angular_velocity: numpy.ndarray[numpy.float64[3, 1]], type: ostk::physics::coordinate::Transform::Type)¶

Bases: pybind11_object

Transform.

Reference:: https://en.wikipedia.org/wiki/Active_and_passive_transformation
Reference:: https://core.ac.uk/download/pdf/77055186.pdf

Constructs a transform.

Parameters:

instant (Instant) -- Instant.
translation (numpy.ndarray) -- Translation.
velocity (numpy.ndarray) -- Velocity.
orientation (Quaternion) -- Orientation.
angular_velocity (numpy.ndarray) -- Angular velocity.
type (Type) -- Type.

Methods

`access_angular_velocity`	Access the angular velocity.
`access_instant`	Access the instant.
`access_orientation`	Access the orientation.
`access_translation`	Access the translation.
`access_velocity`	Access the velocity.
`active`	Create an active transform.
`apply_to_position`	Apply the transform to a position.
`apply_to_vector`	Apply the transform to a vector.
`apply_to_velocity`	Apply the transform to a velocity.
`get_angular_velocity`	Get the angular velocity.
`get_instant`	Get the instant.
`get_inverse`	Get the inverse.
`get_orientation`	Get the orientation.
`get_translation`	Get the translation.
`get_velocity`	Get the velocity.
`identity`	Get identity transform.
`is_defined`	Check if the transform is defined.
`is_identity`	Check if the transform is the identity.
`passive`	Create a passive transform.
`undefined`	Get undefined transform.

class Type(self: ostk.physics.coordinate.Transform.Type, value: int)¶

Bases: pybind11_object

Transform type.

Members:

Undefined :
Undefined type.

Active :
Active type.

Passive :
Passive type.

property name¶

__mul__( self: ostk.physics.coordinate.Transform, arg0: ostk.physics.coordinate.Transform, ) → ostk.physics.coordinate.Transform¶

Multiplication operator.

Parameters:: other (Transform) -- Other transform.
Returns:: Composition.
Return type:: Transform

access_angular_velocity( self: ostk.physics.coordinate.Transform, ) → numpy.ndarray[numpy.float64[3, 1]]¶

Access the angular velocity.

Returns:: Angular velocity.
Return type:: numpy.ndarray

access_instant( self: ostk.physics.coordinate.Transform, ) → ostk.physics.time.Instant¶

Access the instant.

Returns:: Instant.
Return type:: Instant

access_orientation( self: ostk.physics.coordinate.Transform, ) → ostk.mathematics.geometry.d3.transformation.rotation.Quaternion¶

Access the orientation.

Returns:: Orientation.
Return type:: Quaternion

access_translation( self: ostk.physics.coordinate.Transform, ) → numpy.ndarray[numpy.float64[3, 1]]¶

Access the translation.

Returns:: Translation.
Return type:: numpy.ndarray

access_velocity( self: ostk.physics.coordinate.Transform, ) → numpy.ndarray[numpy.float64[3, 1]]¶

Access the velocity.

Returns:: Velocity.
Return type:: numpy.ndarray

static active( instant: ostk.physics.time.Instant, translation: numpy.ndarray[numpy.float64[3, 1]], velocity: numpy.ndarray[numpy.float64[3, 1]], orientation: ostk.mathematics.geometry.d3.transformation.rotation.Quaternion, angular_velocity: numpy.ndarray[numpy.float64[3, 1]], ) → ostk.physics.coordinate.Transform¶

Create an active transform.

Parameters:

instant (Instant) -- Instant.
translation (numpy.ndarray) -- Translation.
velocity (numpy.ndarray) -- Velocity.
orientation (Quaternion) -- Orientation.
angular_velocity (numpy.ndarray) -- Angular velocity.

Returns:

Active transform.

Return type:

Transform

apply_to_position( self: ostk.physics.coordinate.Transform, position: numpy.ndarray[numpy.float64[3, 1]], ) → numpy.ndarray[numpy.float64[3, 1]]¶

Apply the transform to a position.

Parameters:: position (Position) -- Position.
Returns:: Transformed position.
Return type:: numpy.ndarray

apply_to_vector( self: ostk.physics.coordinate.Transform, vector: numpy.ndarray[numpy.float64[3, 1]], ) → numpy.ndarray[numpy.float64[3, 1]]¶

Apply the transform to a vector.

Parameters:: vector (numpy.ndarray) -- Vector.
Returns:: Transformed vector.
Return type:: numpy.ndarray

apply_to_velocity( self: ostk.physics.coordinate.Transform, position: numpy.ndarray[numpy.float64[3, 1]], velocity: numpy.ndarray[numpy.float64[3, 1]], ) → numpy.ndarray[numpy.float64[3, 1]]¶

Apply the transform to a velocity.

Parameters:

position (Position) -- Position.
velocity (Velocity) -- Velocity.

Returns:

Transformed velocity.

Return type:

numpy.ndarray

get_angular_velocity( self: ostk.physics.coordinate.Transform, ) → numpy.ndarray[numpy.float64[3, 1]]¶

Get the angular velocity.

Returns:: Angular velocity.
Return type:: numpy.ndarray

get_instant( self: ostk.physics.coordinate.Transform, ) → ostk.physics.time.Instant¶

Get the instant.

Returns:: Instant.
Return type:: Instant

get_inverse( self: ostk.physics.coordinate.Transform, ) → ostk.physics.coordinate.Transform¶

Get the inverse.

Returns:: Inverse.
Return type:: Transform

get_orientation( self: ostk.physics.coordinate.Transform, ) → ostk.mathematics.geometry.d3.transformation.rotation.Quaternion¶

Get the orientation.

Returns:: Orientation.
Return type:: Quaternion

get_translation( self: ostk.physics.coordinate.Transform, ) → numpy.ndarray[numpy.float64[3, 1]]¶

Get the translation.

Returns:: Translation.
Return type:: numpy.ndarray

get_velocity( self: ostk.physics.coordinate.Transform, ) → numpy.ndarray[numpy.float64[3, 1]]¶

Get the velocity.

Returns:: Velocity.
Return type:: numpy.ndarray

static identity(arg0: ostk.physics.time.Instant) → ostk.physics.coordinate.Transform¶

Get identity transform.

Returns:: Identity transform.
Return type:: Transform

is_defined(self: ostk.physics.coordinate.Transform) → bool¶

Check if the transform is defined.

Returns:: True if the transform is defined.
Return type:: bool

is_identity(self: ostk.physics.coordinate.Transform) → bool¶

Check if the transform is the identity.

Returns:: True if the transform is the identity.
Return type:: bool

static passive( instant: ostk.physics.time.Instant, translation: numpy.ndarray[numpy.float64[3, 1]], velocity: numpy.ndarray[numpy.float64[3, 1]], orientation: ostk.mathematics.geometry.d3.transformation.rotation.Quaternion, angular_velocity: numpy.ndarray[numpy.float64[3, 1]], ) → ostk.physics.coordinate.Transform¶

Create a passive transform.

Parameters:

instant (Instant) -- Instant.
translation (numpy.ndarray) -- Translation.
velocity (numpy.ndarray) -- Velocity.
orientation (Quaternion) -- Orientation.
angular_velocity (numpy.ndarray) -- Angular velocity.

Returns:

Passive transform.

Return type:

Transform

static undefined() → ostk.physics.coordinate.Transform¶

Get undefined transform.

Returns:: Undefined transform.
Return type:: Transform