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KinematicTransformation Structure

A kinematic transformation describing how to transform from one reference frame to another.

Namespace:  AGI.Foundation.Coordinates
Assembly:  AGI.Foundation.Core (in AGI.Foundation.Core.dll) Version: 19.2.399.0 (19.2.399.0)
Syntax
public struct KinematicTransformation : IEquatable<KinematicTransformation>

The KinematicTransformation type exposes the following members.

Constructors
Properties
  NameDescription
Public propertyRotation
Gets the relative rotation between the reference frames.
Public propertyRotationalAcceleration
Gets the rotational acceleration of the second reference frame relative to and expressed in the first reference frame. If this transformation does not include rotational acceleration information, an InvalidOperationException is thrown.
Public propertyRotationalMotion
Gets the rotational portion of this transformation.
Public propertyRotationalOrder
Gets the number of rotational motion derivatives described by this transformation. If this property is 0, only rotation information is available. If this property is 1 or above, rotational velocity information is available. If this property is 2 or above, rotational acceleration information is available. If this property is above 2, further derivatives are available.
Public propertyRotationalVelocity
Gets the rotational velocity of the second reference frame relative to and expressed in the first reference frame. If this transformation does not include rotational velocity information, an InvalidOperationException is thrown.
Public propertyTranslation
Gets the relative position vector between the reference frames.
Public propertyTranslationalAcceleration
Gets the relative acceleration vector between the reference frames.
Public propertyTranslationalMotion
Gets the translational portion of this transformation.
Public propertyTranslationalOrder
Gets the number of translational motion derivatives described by this transformation. If this property is 0, only position information is available. If this property is 1 or above, velocity information is available. If this property is 2 or above, acceleration information is available. If this property is above 2, further derivatives are available.
Public propertyTranslationalVelocity
Gets the relative velocity vector between the reference frames.
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Methods
  NameDescription
Public methodCompose(KinematicTransformation)
Forms a new KinematicTransformation as the composition of this transformation and the provided transformation. If this transformation represents the transformation between reference frame "B" and reference frame "C" and the provided transformation represents the transformation between reference frame "A" and reference frame "B", the result represents the transformation between reference frame "A" and reference frame "C".
Public methodCompose(KinematicTransformation, Int32)
Forms a new KinematicTransformation as the composition of this transformation and the provided transformation. If this transformation represents the transformation between reference frame "B" and reference frame "C" and the provided transformation represents the transformation between reference frame "A" and reference frame "B", the result represents the transformation between reference frame "A" and reference frame "C".
Public methodEquals(Object)
Indicates whether another object is exactly equal to this instance.
(Overrides ValueTypeEquals(Object).)
Public methodEquals(KinematicTransformation)
Indicates whether another instance of this type is exactly equal to this instance.
Public methodGetHashCode
Returns a hash code for this instance, which is suitable for use in hashing algorithms and data structures like a hash table.
(Overrides ValueTypeGetHashCode.)
Public methodGetType
Gets the Type of the current instance.
(Inherited from Object.)
Public methodInvert
Forms the inverse kinematic transformation. If this transformation represents the transformation between reference frame "A" and reference frame "B", the result represents the transformation between reference frame "B" and reference frame "A".
Public methodInvert(Int32)
Forms the inverse kinematic transformation. If this transformation represents the transformation between reference frame "A" and reference frame "B", the result represents the transformation between reference frame "B" and reference frame "A".
Public methodToString
Returns the fully qualified type name of this instance.
(Inherited from ValueType.)
Public methodTransform(Cartesian)
Transforms the position observed in the A frame to the B frame.
Public methodTransform(MotionCartesian)
Transforms the motion observed in the A frame to the B frame.
Public methodTransform(MotionCartesian, Int32)
Transforms the motion observed in the A frame to the B frame.
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Operators
  NameDescription
Public operatorStatic memberEquality
Returns if the two instances are exactly equal.
Public operatorStatic memberInequality
Returns if the two instances are not exactly equal.
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See Also