mechanisms.coordinates.ops

Coordinates built from other coordinates: differences, slices, stacks, projections, norms.

Classes

Custom(fn[, children, unit, params])

y = fn(child values, Param expressions by name), with fn written in CasADi operations.

Difference(a, b)

a − b, e.g. a point minus its goal (the deflection of a spring).

Norm(coord[, eps])

Smooth Euclidean length of a coordinate, √(cᵀc + ε).

Projection(coord, direction, *[, scope])

Signed length of a coordinate along a direction: y = n̂ᵀ c with n̂ = n / ‖n‖.

Slice(coord, index)

Some entries of a coordinate.

Stack(*coords)

Several coordinates stacked into one.

Sum(a, b)

a + b, e.g. a point and an offset that moves.