Spatial maths blocks

class Tr2Delta(**blockargs)

Bases: FunctionBlock

TR2DELTA

Transforms to delta

Inputs:

2

Outputs:

1

States:

0

Port type	Port number	Types	Description
Input	0	SE3	\(\mathbf{T}_1\) pose.
Input	1	SE3	\(\mathbf{T}_2\) pose.
Output	0	ndarray(6)	\(\Delta\)

Difference between \(\mathbf{T}_1\) and \(\mathbf{T}_2\) as a 6-vector

See also

Delta2Tr tr2delta()

__init__(**blockargs)

Parameters:

blockargs (Any) – common Block options

class Delta2Tr(**blockargs)

Bases: FunctionBlock

DELTA2TR

Delta to transform

Inputs:

1

Outputs:

1

States:

0

Port type	Port number	Types	Description
Input	0	ndarray(6)	\(\Delta\)
Output	0	SE3	\(\mathbf{T}\), pose.

6-vector spatial displacement to transform.

See also

Tr2Delta delta2tr()

__init__(**blockargs)

Parameters:

blockargs (Any) – common Block options

class Point2Tr(T=None, **blockargs)

Bases: FunctionBlock

POINT2TR

Point to transform.

Inputs:

1

Outputs:

1

States:

0

Port type	Port number	Types	Description
Input	0	ndarray(3)	\(\mathit{p}\), point.
Output	0	SE3	\(\mathbf{T}\), pose.

The parameter T is an SE3 object whose translation part is replaced by the input

__init__(T=None, **blockargs)

Parameters:

• T (Any) – the transform

• blockargs (Any) – common Block options

If T is None then it defaults to the identity matrix.

class TR2T(**blockargs)

Bases: FunctionBlock

TR2T

Translation components of transform

Inputs:

1

Outputs:

3

States:

0

Port type	Port number	Types	Description
Input	0	SE3	\(\mathit{T}\) transform.
Output	0	float	\(x\) component of translation.
Output	1	float	\(y\) component of translation.
Output	2	float	\(z\) component of translation.

See also

transl()

__init__(**blockargs)

Parameters:

blockargs (Any) – common Block options