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: 24.1.418.0 (24.1.418.0)
SyntaxThe KinematicTransformation type exposes the following members.
Constructors| Name | Description | |
|---|---|---|
 | KinematicTransformation(MotionCartesian, MotionUnitQuaternion, Cartesian) |
Initializes a new instance from the specified translational and rotational motion.
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| KinematicTransformation(Cartesian, Cartesian, Cartesian, MotionUnitQuaternion, Cartesian) |
Initializes a new instance with the specified translational parameters and RotationalMotion.
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| KinematicTransformation(Cartesian, Cartesian, Cartesian, UnitQuaternion, Cartesian, Cartesian) |
Initializes a new instance with the specified translational and rotational parameters.
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Properties| Name | Description | |
|---|---|---|
 | Rotation |
Gets the relative rotation between the reference frames.
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| RotationalAcceleration |
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.
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| RotationalMotion |
Gets the rotational portion of this transformation.
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| RotationalOrder |
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.
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| RotationalVelocity |
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.
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| Translation |
Gets the relative position vector between the reference frames.
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| TranslationalAcceleration |
Gets the relative acceleration vector between the reference frames.
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| TranslationalMotion |
Gets the translational portion of this transformation.
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| TranslationalOrder |
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.
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| TranslationalVelocity |
Gets the relative velocity vector between the reference frames.
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Methods| Name | Description | |
|---|---|---|
| Compose(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".
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| Compose(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".
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| Equals(KinematicTransformation) |
Indicates whether another instance of this type is exactly equal to this instance.
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| Equals(Object) |
Indicates whether another object is exactly equal to this instance.
(Overrides ValueTypeEquals(Object).) |
| GetHashCode |
Returns a hash code for this instance, which is suitable for use in hashing algorithms and data structures like a hash table.
(Overrides ValueTypeGetHashCode.) |
| GetType | Gets the Type of the current instance. (Inherited from Object.) |
| Invert |
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".
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| Invert(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".
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| ToString | Returns the fully qualified type name of this instance. (Inherited from ValueType.) |
| Transform(Cartesian) |
Transforms the position observed in the A frame to the B frame.
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| Transform(MotionCartesian) |
Transforms the motion observed in the A frame to the B frame.
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| Transform(MotionCartesian, Int32) |
Transforms the motion observed in the A frame to the B frame.
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Operators| Name | Description | |
|---|---|---|
  | Equality |
Returns if the two instances are exactly equal.
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| Inequality |
Returns if the two instances are not exactly equal.
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See Also