mechanisms.coordinates¶

Coordinates: what components act on, built from q, the virtual states z, Params and time.

Modules

`base`	Coordinates: quantities y(q, z, p, t) that components act on, and where they are evaluated.
`frames`	Points, rotations and errors of a model's frames, at a named site or at an arc parameter s.
`geometry`	Signed distances from a point to surfaces: positive outside, negative when penetrating.
`joints`	Joint coordinates of the robot, and states of virtual degrees of freedom.
`ops`	Coordinates built from other coordinates: differences, slices, stacks, projections, norms.
`references`	References: coordinates held in Params, such as goals and obstacle positions.