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:class:`PointToPoint` - Constrain the origins of two frames together

.. currentmodule:: trep.constraints

The :class:`PointToPoint` constraints are designed to constrain the origin of one frame to the origin of another frame (maintaining zero distance between the frames).

The constraint equation is:

h(q) =  (p_1 - p_2) [i]

where p_1 and p_2 are the origin points of the two frames being constrained, and i is the basis component of the error vector.

Note

Defining a PointToPoint constraint creates multiple one-dimensional constraints for each axis being used. For example, if a system is defined in 3D, the PointToPoint3D method creates 3 PointToPoint constraints, one for each axis.

Examples

scissor.py

param frame1:First frame to constrain
type frame1::class:`Frame`
param frame2:Second frame to constrain
type frame2::class:`Frame`

Create a new set of 3 constraints to force the origin of frame1 to the origin of frame2. The system must be defined in 3D, otherwise, for 2D systems, use :class:`PointToPoint2D`.

param plane:2D plane of system, ie. 'xy', 'xz', or 'yz'
type plane::class:`string`
param frame1:First frame to constrain
type frame1::class:`Frame`
param frame2:Second frame to constrain
type frame2::class:`Frame`

Create a new set of 2 constraints to force the origin of frame1 to the origin of frame2. The system must be defined in 2D, otherwise, for 3D systems, use :class:`PointToPoint3D`.

param axis:1D axis of system, ie. 'x', 'y', or 'z'
type axis::class:`string`
param frame1:First frame to constrain
type frame1::class:`Frame`
param frame2:Second frame to constrain
type frame2::class:`Frame`

Create a new constraint to force the origin of frame1 to the origin of frame2. The system must be defined in 1D, otherwise, for 2D or 3D systems, use :class:`PointToPoint2D` or :class:`PointToPoint3D`.

.. method:: PointToPoint3D.get_actual_distance()
            PointToPoint2D.get_actual_distance()
            PointToPoint1D.get_actual_distance()

   Calculate the current distance between the two coordinate frames.
   If the constraint is currently satisfied, this is equal to 0.