Wrench.transformed

Wrench.transformed(transformation)[source]

Returns a transformed copy of the Wrench.

Parameters

transformation (Transformation) – The transformation to transform the Wrench.

Returns

Wrench – The transformed wrench.

Examples

>>> R = Rotation.from_axis_and_angle([1, 0, 0], math.pi)
>>> w1 = Wrench([1, 2, 3], [0.1, 0.2, 0.3])
>>> w2 = w1.transformed(R)