class Moveable(pose=None, velocity=None)[source]#

Bases: Transformable

Moveables are time-dependent transformations.

Moveable objects may change their position and orientation in space during simulation runtime.

  • pose (Transformation, optional) – Initial pose of the moveable with respect to its reference coordinate frame. By default, a unit transformation is assumed.

  • velocity (np.ndarray, optional) – Initial velocity of the moveable in local coordinates. By default, the moveable is assumed to be resting.

property velocity: ndarray#

Current velocity of the moveable.

Returns: Cartesian velocity vector in m/s.