- class Moveable(pose=None, velocity=None)#
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.