robotics_toolbox.core.so2.SO2

class robotics_toolbox.core.so2.SO2(angle=0.0)

Bases: object

This class represents an SO2 rotations internally represented by rotation matrix.

Parameters:

angle (float)

__init__(angle=0.0)

Creates a rotation transformation that rotates vector by a given angle, that is expressed in radians. Rotation matrix .rot is used internally, no other variables can be stored inside the class.

Parameters:

angle (float)

Return type:

None

Methods

__init__([angle])	Creates a rotation transformation that rotates vector by a given angle, that is expressed in radians.
act(vector)	Rotate given vector by this transformation.
inverse()	Return inverse of the transformation.

Attributes

angle

Return angle [rad] from the internal rotation matrix representation.

act(vector)

Rotate given vector by this transformation.

Parameters:

vector (_SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes])

Return type:

ndarray

property angle: float

Return angle [rad] from the internal rotation matrix representation.

inverse()

Return inverse of the transformation. Do not change internal property of the object.

Return type:

SO2