franky.Twist

class franky.Twist

Bases: pybind11_object

Twist of a frame.

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: franky._franky.Twist, linear_velocity: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[3, 1]”] | None = None, angular_velocity: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[3, 1]”] | None = None) -> None

Parameters:

• linear_velocity – The linear velocity in [m/s].

• angular_velocity – The angular velocity in [rad/s].

2. __init__(self: franky._franky.Twist, arg0: franky._franky.Twist) -> None

propagate_through_link(self: franky._franky.Twist, link_translation: Annotated[numpy.typing.ArrayLike, numpy.float64, '[3, 1]']) → franky._franky.Twist

Propagate the twist through a link with the given translation.

Hence, suppose this twist is the twist of a frame A, then this function computes the twist of a frame B that is rigidly attached to frame A by a link with the given translation: B = A + T, where T is the translation.

Parameters:

link_translation – The translation of the link. Must be in the same reference frame as this twist.

Returns:

The twist propagated through the link.

transform_with(*args, **kwargs)

Overloaded function.

1. transform_with(self: franky._franky.Twist, affine: franky._franky.Affine) -> franky._franky.Twist

Transform the frame of the twist by applying the given affine transform.

Parameters:

transformation – The transformation to apply.

Returns:

The twist after the transformation.

2. transform_with(self: franky._franky.Twist, quaternion: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, “[4, 1]”]) -> franky._franky.Twist

Transform the frame of the twist by applying the given rotation.

Parameters:

rotation – The rotation to apply.

Returns:

The twist after the transformation.

property angular

Get the angular velocity.

Returns:

The angular velocity [rad/s].

property linear

Get the linear velocity.

Returns:

The linear velocity [m/s].