franky.TwistAcceleration

class franky.TwistAcceleration

Bases: pybind11_object

Acceleration of a frame (2nd time derivative of a pose, consisting of a linear and an angular acceleration).

__init__(*args, **kwargs)

Overloaded function.

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

Parameters:

  • linear_acceleration – The linear acceleration in [m/s^2].

  • angular_acceleration – The angular acceleration in [rad/s^2].

  1. __init__(self: franky._franky.TwistAcceleration, arg0: franky._franky.TwistAcceleration) -> None

Propagate the twist acceleration through a link with the given translation. Hence, suppose this twist acceleration is the twist acceleration of a frame A, then this function computes the twist acceleration 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 (A to B). Must be in the same reference frame as this twist acceleration.

  • base_angular_velocity – Angular velocity of the base frame (A) [rad/s]. Must be in the same reference frame as this twist acceleration.

Returns:

The twist acceleration propagated through the link.

transform_with(*args, **kwargs)

Overloaded function.

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

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

Parameters:

transformation – The transformation to apply.

Returns:

The twist acceleration after the transformation.

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

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

Parameters:

rotation – The rotation to apply.

Returns:

The twist acceleration after the transformation.

property angular

Get the angular acceleration.

Returns:

The angular acceleration [rad/s^2].

property linear

Get the linear acceleration.

Returns:

The linear acceleration [m/s^2].