pydrake.common.eigen_geometry

Bindings for Eigen geometric types.

class pydrake.common.eigen_geometry.AngleAxis

Bindings for Eigen::AngleAxis<>.

Note

This class is templated; see AngleAxis_ for the list of instantiations.

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: pydrake.common.eigen_geometry.AngleAxis) -> None

2. __init__(self: pydrake.common.eigen_geometry.AngleAxis, angle: float, axis: numpy.ndarray[numpy.float64[3, 1]]) -> None

3. __init__(self: pydrake.common.eigen_geometry.AngleAxis, quaternion: pydrake.common.eigen_geometry.Quaternion) -> None

4. __init__(self: pydrake.common.eigen_geometry.AngleAxis, rotation: numpy.ndarray[numpy.float64[3, 3]]) -> None

5. __init__(self: pydrake.common.eigen_geometry.AngleAxis, other: pydrake.common.eigen_geometry.AngleAxis) -> None

angle(self: pydrake.common.eigen_geometry.AngleAxis) → float

axis(self: pydrake.common.eigen_geometry.AngleAxis) → numpy.ndarray[numpy.float64[3, 1]]

template cast

Instantiations: cast[float], cast[AutoDiffXd], cast[Expression]

cast[AutoDiffXd](self: pydrake.common.eigen_geometry.AngleAxis) → Eigen::AngleAxis<Eigen::AutoDiffScalar<Eigen::Matrix<double, -1, 1, 0, -1, 1> > >

Cast to desired scalar type.

cast[Expression](self: pydrake.common.eigen_geometry.AngleAxis) → Eigen::AngleAxis<drake::symbolic::Expression>

Cast to desired scalar type.

cast[float](self: pydrake.common.eigen_geometry.AngleAxis) → pydrake.common.eigen_geometry.AngleAxis

Cast to desired scalar type.

static Identity() → pydrake.common.eigen_geometry.AngleAxis

inverse(self: pydrake.common.eigen_geometry.AngleAxis) → pydrake.common.eigen_geometry.AngleAxis

multiply(self: pydrake.common.eigen_geometry.AngleAxis, other: pydrake.common.eigen_geometry.AngleAxis) → pydrake.common.eigen_geometry.Quaternion

quaternion(self: pydrake.common.eigen_geometry.AngleAxis) → pydrake.common.eigen_geometry.Quaternion

rotation(self: pydrake.common.eigen_geometry.AngleAxis) → numpy.ndarray[numpy.float64[3, 3]]

set_angle(self: pydrake.common.eigen_geometry.AngleAxis, angle: float) → None

set_axis(self: pydrake.common.eigen_geometry.AngleAxis, axis: numpy.ndarray[numpy.float64[3, 1]]) → None

set_quaternion(self: pydrake.common.eigen_geometry.AngleAxis, q: pydrake.common.eigen_geometry.Quaternion) → None

set_rotation(self: pydrake.common.eigen_geometry.AngleAxis, rotation: numpy.ndarray[numpy.float64[3, 3]]) → None

template pydrake.common.eigen_geometry.AngleAxis_

Instantiations: AngleAxis_[float], AngleAxis_[AutoDiffXd], AngleAxis_[Expression]

class pydrake.common.eigen_geometry.AngleAxis_[AutoDiffXd]

Bindings for Eigen::AngleAxis<>.

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: pydrake.common.eigen_geometry.AngleAxis_[AutoDiffXd]) -> None

2. __init__(self: pydrake.common.eigen_geometry.AngleAxis_[AutoDiffXd], angle: pydrake.autodiffutils.AutoDiffXd, axis: numpy.ndarray[object[3, 1]]) -> None

3. __init__(self: pydrake.common.eigen_geometry.AngleAxis_[AutoDiffXd], quaternion: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]) -> None

4. __init__(self: pydrake.common.eigen_geometry.AngleAxis_[AutoDiffXd], rotation: numpy.ndarray[object[3, 3]]) -> None

5. __init__(self: pydrake.common.eigen_geometry.AngleAxis_[AutoDiffXd], other: pydrake.common.eigen_geometry.AngleAxis_[AutoDiffXd]) -> None

angle(self: pydrake.common.eigen_geometry.AngleAxis_[AutoDiffXd]) → pydrake.autodiffutils.AutoDiffXd

axis(self: pydrake.common.eigen_geometry.AngleAxis_[AutoDiffXd]) → numpy.ndarray[object[3, 1]]

template cast

Instantiations: cast[AutoDiffXd]

cast[AutoDiffXd](self: pydrake.common.eigen_geometry.AngleAxis_[AutoDiffXd]) → pydrake.common.eigen_geometry.AngleAxis_[AutoDiffXd]

Cast to desired scalar type.

static Identity() → pydrake.common.eigen_geometry.AngleAxis_[AutoDiffXd]

inverse(self: pydrake.common.eigen_geometry.AngleAxis_[AutoDiffXd]) → pydrake.common.eigen_geometry.AngleAxis_[AutoDiffXd]

multiply(self: pydrake.common.eigen_geometry.AngleAxis_[AutoDiffXd], other: pydrake.common.eigen_geometry.AngleAxis_[AutoDiffXd]) → pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]

quaternion(self: pydrake.common.eigen_geometry.AngleAxis_[AutoDiffXd]) → pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]

rotation(self: pydrake.common.eigen_geometry.AngleAxis_[AutoDiffXd]) → numpy.ndarray[object[3, 3]]

set_angle(self: pydrake.common.eigen_geometry.AngleAxis_[AutoDiffXd], angle: pydrake.autodiffutils.AutoDiffXd) → None

set_axis(self: pydrake.common.eigen_geometry.AngleAxis_[AutoDiffXd], axis: numpy.ndarray[object[3, 1]]) → None

set_quaternion(self: pydrake.common.eigen_geometry.AngleAxis_[AutoDiffXd], q: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]) → None

set_rotation(self: pydrake.common.eigen_geometry.AngleAxis_[AutoDiffXd], rotation: numpy.ndarray[object[3, 3]]) → None

class pydrake.common.eigen_geometry.AngleAxis_[Expression]

Bindings for Eigen::AngleAxis<>.

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: pydrake.common.eigen_geometry.AngleAxis_[Expression]) -> None

2. __init__(self: pydrake.common.eigen_geometry.AngleAxis_[Expression], angle: pydrake.symbolic.Expression, axis: numpy.ndarray[object[3, 1]]) -> None

3. __init__(self: pydrake.common.eigen_geometry.AngleAxis_[Expression], quaternion: pydrake.common.eigen_geometry.Quaternion_[Expression]) -> None

4. __init__(self: pydrake.common.eigen_geometry.AngleAxis_[Expression], rotation: numpy.ndarray[object[3, 3]]) -> None

5. __init__(self: pydrake.common.eigen_geometry.AngleAxis_[Expression], other: pydrake.common.eigen_geometry.AngleAxis_[Expression]) -> None

angle(self: pydrake.common.eigen_geometry.AngleAxis_[Expression]) → pydrake.symbolic.Expression

axis(self: pydrake.common.eigen_geometry.AngleAxis_[Expression]) → numpy.ndarray[object[3, 1]]

template cast

Instantiations: cast[Expression]

cast[Expression](self: pydrake.common.eigen_geometry.AngleAxis_[Expression]) → pydrake.common.eigen_geometry.AngleAxis_[Expression]

Cast to desired scalar type.

static Identity() → pydrake.common.eigen_geometry.AngleAxis_[Expression]

inverse(self: pydrake.common.eigen_geometry.AngleAxis_[Expression]) → pydrake.common.eigen_geometry.AngleAxis_[Expression]

multiply(self: pydrake.common.eigen_geometry.AngleAxis_[Expression], other: pydrake.common.eigen_geometry.AngleAxis_[Expression]) → pydrake.common.eigen_geometry.Quaternion_[Expression]

quaternion(self: pydrake.common.eigen_geometry.AngleAxis_[Expression]) → pydrake.common.eigen_geometry.Quaternion_[Expression]

rotation(self: pydrake.common.eigen_geometry.AngleAxis_[Expression]) → numpy.ndarray[object[3, 3]]

set_angle(self: pydrake.common.eigen_geometry.AngleAxis_[Expression], angle: pydrake.symbolic.Expression) → None

set_axis(self: pydrake.common.eigen_geometry.AngleAxis_[Expression], axis: numpy.ndarray[object[3, 1]]) → None

set_quaternion(self: pydrake.common.eigen_geometry.AngleAxis_[Expression], q: pydrake.common.eigen_geometry.Quaternion_[Expression]) → None

set_rotation(self: pydrake.common.eigen_geometry.AngleAxis_[Expression], rotation: numpy.ndarray[object[3, 3]]) → None

class pydrake.common.eigen_geometry.Isometry3

Provides bindings of Eigen::Isometry3<> that only admit SE(3) (no reflections).

Note

This class is templated; see Isometry3_ for the list of instantiations.

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: pydrake.common.eigen_geometry.Isometry3) -> None

2. __init__(self: pydrake.common.eigen_geometry.Isometry3, matrix: numpy.ndarray[numpy.float64[4, 4]]) -> None

3. __init__(self: pydrake.common.eigen_geometry.Isometry3, rotation: numpy.ndarray[numpy.float64[3, 3]], translation: numpy.ndarray[numpy.float64[3, 1]]) -> None

4. __init__(self: pydrake.common.eigen_geometry.Isometry3, quaternion: Eigen::Quaternion<double, 0>, translation: numpy.ndarray[numpy.float64[3, 1]]) -> None

5. __init__(self: pydrake.common.eigen_geometry.Isometry3, other: pydrake.common.eigen_geometry.Isometry3) -> None

template cast

Instantiations: cast[float], cast[AutoDiffXd], cast[Expression]

cast[AutoDiffXd](self: pydrake.common.eigen_geometry.Isometry3) → Eigen::Transform<Eigen::AutoDiffScalar<Eigen::Matrix<double, -1, 1, 0, -1, 1> >, 3, 1, 0>

Cast to desired scalar type.

cast[Expression](self: pydrake.common.eigen_geometry.Isometry3) → Eigen::Transform<drake::symbolic::Expression, 3, 1, 0>

Cast to desired scalar type.

cast[float](self: pydrake.common.eigen_geometry.Isometry3) → pydrake.common.eigen_geometry.Isometry3

Cast to desired scalar type.

static Identity() → pydrake.common.eigen_geometry.Isometry3

inverse(self: pydrake.common.eigen_geometry.Isometry3) → pydrake.common.eigen_geometry.Isometry3

matrix(self: pydrake.common.eigen_geometry.Isometry3) → numpy.ndarray[numpy.float64[4, 4]]

multiply(*args, **kwargs)

Overloaded function.

1. multiply(self: pydrake.common.eigen_geometry.Isometry3, other: pydrake.common.eigen_geometry.Isometry3) -> pydrake.common.eigen_geometry.Isometry3

RigidTransform multiplication

2. multiply(self: pydrake.common.eigen_geometry.Isometry3, position: numpy.ndarray[numpy.float64[3, 1]]) -> numpy.ndarray[numpy.float64[3, 1]]

Position vector multiplication

3. multiply(self: pydrake.common.eigen_geometry.Isometry3, position: numpy.ndarray[numpy.float64[3, n]]) -> numpy.ndarray[numpy.float64[3, n]]

Position vector list multiplication

quaternion(self: pydrake.common.eigen_geometry.Isometry3) → Eigen::Quaternion<double, 0>

rotation(self: pydrake.common.eigen_geometry.Isometry3) → numpy.ndarray[numpy.float64[3, 3]]

set_matrix(self: pydrake.common.eigen_geometry.Isometry3, arg0: numpy.ndarray[numpy.float64[4, 4]]) → None

set_quaternion(self: pydrake.common.eigen_geometry.Isometry3, arg0: Eigen::Quaternion<double, 0>) → None

set_rotation(self: pydrake.common.eigen_geometry.Isometry3, arg0: numpy.ndarray[numpy.float64[3, 3]]) → None

set_translation(self: pydrake.common.eigen_geometry.Isometry3, arg0: numpy.ndarray[numpy.float64[3, 1]]) → None

translation(self: pydrake.common.eigen_geometry.Isometry3) → numpy.ndarray[numpy.float64[3, 1]]

template pydrake.common.eigen_geometry.Isometry3_

Instantiations: Isometry3_[float], Isometry3_[AutoDiffXd], Isometry3_[Expression]

class pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd]

Provides bindings of Eigen::Isometry3<> that only admit SE(3) (no reflections).

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd]) -> None

2. __init__(self: pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd], matrix: numpy.ndarray[object[4, 4]]) -> None

3. __init__(self: pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd], rotation: numpy.ndarray[object[3, 3]], translation: numpy.ndarray[object[3, 1]]) -> None

4. __init__(self: pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd], quaternion: Eigen::Quaternion<Eigen::AutoDiffScalar<Eigen::Matrix<double, -1, 1, 0, -1, 1> >, 0>, translation: numpy.ndarray[object[3, 1]]) -> None

5. __init__(self: pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd], other: pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd]) -> None

template cast

Instantiations: cast[AutoDiffXd]

cast[AutoDiffXd](self: pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd]) → pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd]

Cast to desired scalar type.

static Identity() → pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd]

inverse(self: pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd]) → pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd]

matrix(self: pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd]) → numpy.ndarray[object[4, 4]]

multiply(*args, **kwargs)

Overloaded function.

1. multiply(self: pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd], other: pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd]) -> pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd]

RigidTransform multiplication

2. multiply(self: pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd], position: numpy.ndarray[object[3, 1]]) -> numpy.ndarray[object[3, 1]]

Position vector multiplication

3. multiply(self: pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd], position: numpy.ndarray[object[3, n]]) -> numpy.ndarray[object[3, n]]

Position vector list multiplication

quaternion(self: pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd]) → Eigen::Quaternion<Eigen::AutoDiffScalar<Eigen::Matrix<double, -1, 1, 0, -1, 1> >, 0>

rotation(self: pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd]) → numpy.ndarray[object[3, 3]]

set_matrix(self: pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd], arg0: numpy.ndarray[object[4, 4]]) → None

set_quaternion(self: pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd], arg0: Eigen::Quaternion<Eigen::AutoDiffScalar<Eigen::Matrix<double, -1, 1, 0, -1, 1> >, 0>) → None

set_rotation(self: pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd], arg0: numpy.ndarray[object[3, 3]]) → None

set_translation(self: pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd], arg0: numpy.ndarray[object[3, 1]]) → None

translation(self: pydrake.common.eigen_geometry.Isometry3_[AutoDiffXd]) → numpy.ndarray[object[3, 1]]

class pydrake.common.eigen_geometry.Isometry3_[Expression]

Provides bindings of Eigen::Isometry3<> that only admit SE(3) (no reflections).

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: pydrake.common.eigen_geometry.Isometry3_[Expression]) -> None

2. __init__(self: pydrake.common.eigen_geometry.Isometry3_[Expression], matrix: numpy.ndarray[object[4, 4]]) -> None

3. __init__(self: pydrake.common.eigen_geometry.Isometry3_[Expression], rotation: numpy.ndarray[object[3, 3]], translation: numpy.ndarray[object[3, 1]]) -> None

4. __init__(self: pydrake.common.eigen_geometry.Isometry3_[Expression], quaternion: Eigen::Quaternion<drake::symbolic::Expression, 0>, translation: numpy.ndarray[object[3, 1]]) -> None

5. __init__(self: pydrake.common.eigen_geometry.Isometry3_[Expression], other: pydrake.common.eigen_geometry.Isometry3_[Expression]) -> None

template cast

Instantiations: cast[Expression]

cast[Expression](self: pydrake.common.eigen_geometry.Isometry3_[Expression]) → pydrake.common.eigen_geometry.Isometry3_[Expression]

Cast to desired scalar type.

static Identity() → pydrake.common.eigen_geometry.Isometry3_[Expression]

inverse(self: pydrake.common.eigen_geometry.Isometry3_[Expression]) → pydrake.common.eigen_geometry.Isometry3_[Expression]

matrix(self: pydrake.common.eigen_geometry.Isometry3_[Expression]) → numpy.ndarray[object[4, 4]]

multiply(*args, **kwargs)

Overloaded function.

1. multiply(self: pydrake.common.eigen_geometry.Isometry3_[Expression], other: pydrake.common.eigen_geometry.Isometry3_[Expression]) -> pydrake.common.eigen_geometry.Isometry3_[Expression]

RigidTransform multiplication

2. multiply(self: pydrake.common.eigen_geometry.Isometry3_[Expression], position: numpy.ndarray[object[3, 1]]) -> numpy.ndarray[object[3, 1]]

Position vector multiplication

3. multiply(self: pydrake.common.eigen_geometry.Isometry3_[Expression], position: numpy.ndarray[object[3, n]]) -> numpy.ndarray[object[3, n]]

Position vector list multiplication

quaternion(self: pydrake.common.eigen_geometry.Isometry3_[Expression]) → Eigen::Quaternion<drake::symbolic::Expression, 0>

rotation(self: pydrake.common.eigen_geometry.Isometry3_[Expression]) → numpy.ndarray[object[3, 3]]

set_matrix(self: pydrake.common.eigen_geometry.Isometry3_[Expression], arg0: numpy.ndarray[object[4, 4]]) → None

set_quaternion(self: pydrake.common.eigen_geometry.Isometry3_[Expression], arg0: Eigen::Quaternion<drake::symbolic::Expression, 0>) → None

set_rotation(self: pydrake.common.eigen_geometry.Isometry3_[Expression], arg0: numpy.ndarray[object[3, 3]]) → None

set_translation(self: pydrake.common.eigen_geometry.Isometry3_[Expression], arg0: numpy.ndarray[object[3, 1]]) → None

translation(self: pydrake.common.eigen_geometry.Isometry3_[Expression]) → numpy.ndarray[object[3, 1]]

class pydrake.common.eigen_geometry.Quaternion

Provides a unit quaternion binding of Eigen::Quaternion<>.

Note

This class is templated; see Quaternion_ for the list of instantiations.

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: pydrake.common.eigen_geometry.Quaternion) -> None

2. __init__(self: pydrake.common.eigen_geometry.Quaternion, wxyz: numpy.ndarray[numpy.float64[4, 1]]) -> None

3. __init__(self: pydrake.common.eigen_geometry.Quaternion, w: float, x: float, y: float, z: float) -> None

4. __init__(self: pydrake.common.eigen_geometry.Quaternion, rotation: numpy.ndarray[numpy.float64[3, 3]]) -> None

5. __init__(self: pydrake.common.eigen_geometry.Quaternion, other: pydrake.common.eigen_geometry.Quaternion) -> None

template cast

Instantiations: cast[float], cast[AutoDiffXd], cast[Expression]

cast[AutoDiffXd](self: pydrake.common.eigen_geometry.Quaternion) → Eigen::Quaternion<Eigen::AutoDiffScalar<Eigen::Matrix<double, -1, 1, 0, -1, 1> >, 0>

Cast to desired scalar type.

cast[Expression](self: pydrake.common.eigen_geometry.Quaternion) → Eigen::Quaternion<drake::symbolic::Expression, 0>

Cast to desired scalar type.

cast[float](self: pydrake.common.eigen_geometry.Quaternion) → pydrake.common.eigen_geometry.Quaternion

Cast to desired scalar type.

conjugate(self: pydrake.common.eigen_geometry.Quaternion) → pydrake.common.eigen_geometry.Quaternion

static Identity() → pydrake.common.eigen_geometry.Quaternion

inverse(self: pydrake.common.eigen_geometry.Quaternion) → pydrake.common.eigen_geometry.Quaternion

multiply(*args, **kwargs)

Overloaded function.

1. multiply(self: pydrake.common.eigen_geometry.Quaternion, arg0: pydrake.common.eigen_geometry.Quaternion) -> pydrake.common.eigen_geometry.Quaternion

Quaternion multiplication

2. multiply(self: pydrake.common.eigen_geometry.Quaternion, vector: numpy.ndarray[numpy.float64[3, 1]]) -> numpy.ndarray[numpy.float64[3, 1]]

Multiplication by a vector expressed in a frame

3. multiply(self: pydrake.common.eigen_geometry.Quaternion, vector: numpy.ndarray[numpy.float64[3, n]]) -> numpy.ndarray[numpy.float64[3, n]]

Multiplication by a list of vectors expressed in the same frame

rotation(self: pydrake.common.eigen_geometry.Quaternion) → numpy.ndarray[numpy.float64[3, 3]]

set_rotation(self: pydrake.common.eigen_geometry.Quaternion, arg0: numpy.ndarray[numpy.float64[3, 3]]) → None

set_wxyz(*args, **kwargs)

Overloaded function.

1. set_wxyz(self: pydrake.common.eigen_geometry.Quaternion, wxyz: numpy.ndarray[numpy.float64[4, 1]]) -> None

2. set_wxyz(self: pydrake.common.eigen_geometry.Quaternion, w: float, x: float, y: float, z: float) -> None

slerp(self: pydrake.common.eigen_geometry.Quaternion, t: float, other: pydrake.common.eigen_geometry.Quaternion) → pydrake.common.eigen_geometry.Quaternion

The spherical linear interpolation between the two quaternions (self and other) at the parameter t in [0;1].

w(self: pydrake.common.eigen_geometry.Quaternion) → float

wxyz(self: pydrake.common.eigen_geometry.Quaternion) → numpy.ndarray[numpy.float64[4, 1]]

x(self: pydrake.common.eigen_geometry.Quaternion) → float

xyz(self: pydrake.common.eigen_geometry.Quaternion) → numpy.ndarray[numpy.float64[3, 1]]

y(self: pydrake.common.eigen_geometry.Quaternion) → float

z(self: pydrake.common.eigen_geometry.Quaternion) → float

template pydrake.common.eigen_geometry.Quaternion_

Instantiations: Quaternion_[float], Quaternion_[AutoDiffXd], Quaternion_[Expression]

class pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]

Provides a unit quaternion binding of Eigen::Quaternion<>.

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]) -> None

2. __init__(self: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd], wxyz: numpy.ndarray[object[4, 1]]) -> None

3. __init__(self: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd], w: pydrake.autodiffutils.AutoDiffXd, x: pydrake.autodiffutils.AutoDiffXd, y: pydrake.autodiffutils.AutoDiffXd, z: pydrake.autodiffutils.AutoDiffXd) -> None

4. __init__(self: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd], rotation: numpy.ndarray[object[3, 3]]) -> None

5. __init__(self: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd], other: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]) -> None

template cast

Instantiations: cast[AutoDiffXd]

cast[AutoDiffXd](self: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]) → pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]

Cast to desired scalar type.

conjugate(self: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]) → pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]

static Identity() → pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]

inverse(self: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]) → pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]

multiply(*args, **kwargs)

Overloaded function.

1. multiply(self: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd], arg0: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]) -> pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]

Quaternion multiplication

2. multiply(self: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd], vector: numpy.ndarray[object[3, 1]]) -> numpy.ndarray[object[3, 1]]

Multiplication by a vector expressed in a frame

3. multiply(self: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd], vector: numpy.ndarray[object[3, n]]) -> numpy.ndarray[object[3, n]]

Multiplication by a list of vectors expressed in the same frame

rotation(self: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]) → numpy.ndarray[object[3, 3]]

set_rotation(self: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd], arg0: numpy.ndarray[object[3, 3]]) → None

set_wxyz(*args, **kwargs)

Overloaded function.

1. set_wxyz(self: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd], wxyz: numpy.ndarray[object[4, 1]]) -> None

2. set_wxyz(self: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd], w: pydrake.autodiffutils.AutoDiffXd, x: pydrake.autodiffutils.AutoDiffXd, y: pydrake.autodiffutils.AutoDiffXd, z: pydrake.autodiffutils.AutoDiffXd) -> None

slerp(self: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd], t: float, other: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]) → pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]

The spherical linear interpolation between the two quaternions (self and other) at the parameter t in [0;1].

w(self: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]) → pydrake.autodiffutils.AutoDiffXd

wxyz(self: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]) → numpy.ndarray[object[4, 1]]

x(self: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]) → pydrake.autodiffutils.AutoDiffXd

xyz(self: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]) → numpy.ndarray[object[3, 1]]

y(self: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]) → pydrake.autodiffutils.AutoDiffXd

z(self: pydrake.common.eigen_geometry.Quaternion_[AutoDiffXd]) → pydrake.autodiffutils.AutoDiffXd

class pydrake.common.eigen_geometry.Quaternion_[Expression]

Provides a unit quaternion binding of Eigen::Quaternion<>.

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: pydrake.common.eigen_geometry.Quaternion_[Expression]) -> None

2. __init__(self: pydrake.common.eigen_geometry.Quaternion_[Expression], wxyz: numpy.ndarray[object[4, 1]]) -> None

3. __init__(self: pydrake.common.eigen_geometry.Quaternion_[Expression], w: pydrake.symbolic.Expression, x: pydrake.symbolic.Expression, y: pydrake.symbolic.Expression, z: pydrake.symbolic.Expression) -> None

4. __init__(self: pydrake.common.eigen_geometry.Quaternion_[Expression], rotation: numpy.ndarray[object[3, 3]]) -> None

5. __init__(self: pydrake.common.eigen_geometry.Quaternion_[Expression], other: pydrake.common.eigen_geometry.Quaternion_[Expression]) -> None

template cast

Instantiations: cast[Expression]

cast[Expression](self: pydrake.common.eigen_geometry.Quaternion_[Expression]) → pydrake.common.eigen_geometry.Quaternion_[Expression]

Cast to desired scalar type.

conjugate(self: pydrake.common.eigen_geometry.Quaternion_[Expression]) → pydrake.common.eigen_geometry.Quaternion_[Expression]

static Identity() → pydrake.common.eigen_geometry.Quaternion_[Expression]

inverse(self: pydrake.common.eigen_geometry.Quaternion_[Expression]) → pydrake.common.eigen_geometry.Quaternion_[Expression]

multiply(*args, **kwargs)

Overloaded function.

1. multiply(self: pydrake.common.eigen_geometry.Quaternion_[Expression], arg0: pydrake.common.eigen_geometry.Quaternion_[Expression]) -> pydrake.common.eigen_geometry.Quaternion_[Expression]

Quaternion multiplication

2. multiply(self: pydrake.common.eigen_geometry.Quaternion_[Expression], vector: numpy.ndarray[object[3, 1]]) -> numpy.ndarray[object[3, 1]]

Multiplication by a vector expressed in a frame

3. multiply(self: pydrake.common.eigen_geometry.Quaternion_[Expression], vector: numpy.ndarray[object[3, n]]) -> numpy.ndarray[object[3, n]]

Multiplication by a list of vectors expressed in the same frame

rotation(self: pydrake.common.eigen_geometry.Quaternion_[Expression]) → numpy.ndarray[object[3, 3]]

set_rotation(self: pydrake.common.eigen_geometry.Quaternion_[Expression], arg0: numpy.ndarray[object[3, 3]]) → None

set_wxyz(*args, **kwargs)

Overloaded function.

1. set_wxyz(self: pydrake.common.eigen_geometry.Quaternion_[Expression], wxyz: numpy.ndarray[object[4, 1]]) -> None

2. set_wxyz(self: pydrake.common.eigen_geometry.Quaternion_[Expression], w: pydrake.symbolic.Expression, x: pydrake.symbolic.Expression, y: pydrake.symbolic.Expression, z: pydrake.symbolic.Expression) -> None

slerp(self: pydrake.common.eigen_geometry.Quaternion_[Expression], t: float, other: pydrake.common.eigen_geometry.Quaternion_[Expression]) → pydrake.common.eigen_geometry.Quaternion_[Expression]

The spherical linear interpolation between the two quaternions (self and other) at the parameter t in [0;1].

w(self: pydrake.common.eigen_geometry.Quaternion_[Expression]) → pydrake.symbolic.Expression

wxyz(self: pydrake.common.eigen_geometry.Quaternion_[Expression]) → numpy.ndarray[object[4, 1]]

x(self: pydrake.common.eigen_geometry.Quaternion_[Expression]) → pydrake.symbolic.Expression

xyz(self: pydrake.common.eigen_geometry.Quaternion_[Expression]) → numpy.ndarray[object[3, 1]]

y(self: pydrake.common.eigen_geometry.Quaternion_[Expression]) → pydrake.symbolic.Expression

z(self: pydrake.common.eigen_geometry.Quaternion_[Expression]) → pydrake.symbolic.Expression