BodyCoordinateSystem

The body coordinate system is used to connect a body to joints, hold the center of mass, or define a load. See Joint or Body to access existing coordinate systems. Coordinate systems can also be created.

ID table: CS_BodyCoordinateSystem

Constructors

 CS_BodyCoordinateSystem(body, type, xyz, basis)

Members

Basis

Member functions

RotateArrayThroughTimeToLocal(MeasureValues)

Rotates the transient values of a measure to a coordinate system. MeasureValues is a python two-dimensional array, such as that coming out of FillValuesThroughTime or FillDerivativesThroughTime. This function works for 3D vectors such as relative translation between two coordinate systems or 6-D vectors such as forces/moments.

RotateArrayThroughTimeToGlobal(MeasureValues)

Rotates the transient values of a measure from a coordinate system to the global coordinate system.

Type

Type of coordinate system, values in E_Unknown, E_Ground, E_Part, E_Joint, E_Inertia, E_BodyTransform, E_Contact, E_SplitJoint.

Derived classes

None

Example

forceInGlobal=joint.GetForce()

valuesInGlobal=forceInGlobal.FillValuesThroughTime()

for i in range(0,valuesInGlobal.GetLength(0)):
    print '{0:e} {1:e} {2:e} {3:e}'.format(valuesInGlobal[i,0],
	valuesInGlobal[i,1],valuesInGlobal[i,2],valuesInGlobal[i,3])

mobileCS=joint.MobileCoordinateSystem

valuesInLocal=valuesInGlobal.Clone()

mobileCS.RotateArrayThroughTimeToLocal(valuesInLocal)

for i in range(0,valuesInGlobal.GetLength(0)):
    print '{0:e} {1:e} {2:e} {3:e}'.format(valuesInLocal[i,0],
    valuesInLocal[i,1],valuesInLocal[i,2],valuesInLocal[i,3])