pytransform3d.visualizer.Capsule

class pytransform3d.visualizer.Capsule(height=1, radius=1, A2B=array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]]), resolution=20, c=None)[source]

Bases: pytransform3d.visualizer._artists.Artist

Capsule.

A capsule is the volume covered by a sphere moving along a line segment.

Parameters
heightfloat, optional (default: 1)

Height of the capsule along its z-axis.

radiusfloat, optional (default: 1)

Radius of the capsule.

A2Barray-like, shape (4, 4)

Pose of the capsule. The position corresponds to the center of the line segment and the z-axis to the direction of the line segment.

resolutionint, optional (default: 20)

The resolution of the half spheres. The longitudes will be split into resolution segments (i.e. there are resolution + 1 latitude lines including the north and south pole). The latitudes will be split into 2 * resolution segments (i.e. there are 2 * resolution longitude lines.)

carray-like, shape (3,), optional (default: None)

Color

__init__(height=1, radius=1, A2B=array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]]), resolution=20, c=None)[source]

Initialize self. See help(type(self)) for accurate signature.

Methods

__init__([height, radius, A2B, resolution, c])

Initialize self.

add_artist(figure)

Add artist to figure.

set_data(A2B)

Update data.

Attributes

geometries

Expose geometries.

set_data(A2B)[source]

Update data.

Parameters
A2Barray-like, shape (4, 4)

Start of the capsule’s line segment.

property geometries

Expose geometries.

Returns
geometrieslist

List of geometries that can be added to the visualizer.

add_artist(figure)

Add artist to figure.

Parameters
figureFigure

Figure to which the artist will be added.

Examples using pytransform3d.visualizer.Capsule