novaphy.sensors.SensorFrameTransform

Computes target-site transforms and velocities relative to reference sites. One reference site may be broadcast to every target; otherwise the target and reference lists must have equal lengths.

SensorFrameTransform(
    model: Model,
    target_sites: str | list[str] | list[int],
    reference_sites: str | list[str] | list[int],
)

Methods

Method	Description
update(state)	Compute transforms from the current state.

Attributes

Attribute	Description
positions	(N, 3) target positions expressed in each reference frame.
orientations	(N, 4) relative quaternions in [x, y, z, w] order.
linear_velocities	(N, 3) relative linear velocities in the reference frame.
angular_velocities	(N, 3) relative angular velocities in the reference frame.
num_sensors	Number of target/reference pairs.

See Also

• Site
• SensorIMU