mechanisms.coordinates.frames

Points, rotations and errors of a model’s frames, at a named site or at an arc parameter s.

Classes

FramePoint(model[, at, s, offset, q])

Position [m] of a point fixed to a model frame: a named site, or arc parameter s.

FrameRotation(model[, at, s, q])

The rotation matrix of a model frame, row by row: 9 entries.

FromFrame(coord, model[, at, s, q])

A 3-vector coordinate given along the axes of a model frame, in the base frame: R c.

InFrame(coord, model[, at, s, q])

A 3-vector coordinate expressed along the axes of a model frame: Rᵀ c.

OnFrame(dim, unit, model[, at, s, q])

A coordinate of a model frame: a named site, or arc parameter s, or both.

OrientationError(model[, at, s, goal, q])

The rotation of a model frame from a goal orientation, as a rotation vector [rad].