adam.numpy.numpy_like

adam.numpy.numpy_like#

Classes#

`NumpyLike`	Class wrapping NumPy types
`NumpyLikeFactory`	Abstract class for a generic Array wrapper. Every method should be implemented for every data type.
`SpatialMath`	Class implementing the main geometric functions used for computing rigid-body algorithm

Module Contents#

class adam.numpy.numpy_like.NumpyLike[source]#

Bases: adam.core.spatial_math.ArrayLike

Class wrapping NumPy types

array: numpy.ndarray[source]#

__setitem__(idx, value: NumpyLike | numpy.typing.ArrayLike) → NumpyLike[source]#: Overrides set item operator

__getitem__(idx) → NumpyLike[source]#: Overrides get item operator

property shape[source]#

reshape(*args)[source]#

property T: NumpyLike[source]#: Returns: NumpyLike: transpose of the array

__matmul__(other: NumpyLike | numpy.typing.ArrayLike) → NumpyLike[source]#: Overrides @ operator

__rmatmul__(other: NumpyLike | numpy.typing.ArrayLike) → NumpyLike[source]#: Overrides @ operator

__mul__(other: NumpyLike | numpy.typing.ArrayLike) → NumpyLike[source]#: Overrides * operator

__rmul__(other: NumpyLike | numpy.typing.ArrayLike) → NumpyLike[source]#: Overrides * operator

__truediv__(other: NumpyLike | numpy.typing.ArrayLike) → NumpyLike[source]#: Overrides / operator

__add__(other: NumpyLike | numpy.typing.ArrayLike) → NumpyLike[source]#: Overrides + operator

__radd__(other: NumpyLike | numpy.typing.ArrayLike) → NumpyLike[source]#: Overrides + operator

__sub__(other: NumpyLike | numpy.typing.ArrayLike) → NumpyLike[source]#: Overrides - operator

__rsub__(other: NumpyLike | numpy.typing.ArrayLike) → NumpyLike[source]#: Overrides - operator

__neg__()[source]#: Overrides - operator

class adam.numpy.numpy_like.NumpyLikeFactory[source]#

Bases: adam.core.spatial_math.ArrayLikeFactory

Abstract class for a generic Array wrapper. Every method should be implemented for every data type.

static zeros(*x) → NumpyLike[source]#

Returns:: zero matrix of dimension x
Return type:: NumpyLike

static eye(x: int) → NumpyLike[source]#

Parameters:: x (int) – matrix dimension
Returns:: Identity matrix of dimension x
Return type:: NumpyLike

static array(x) → NumpyLike[source]#

Returns:: Vector wrapping *x
Return type:: NumpyLike

class adam.numpy.numpy_like.SpatialMath[source]#

Bases: SpatialMath

Class implementing the main geometric functions used for computing rigid-body algorithm

Parameters:: ArrayLike – abstract class describing a generic Array wrapper. It needs to be implemented for every data type

static sin(x: numpy.typing.ArrayLike) → NumpyLike[source]#

Parameters:: x (npt.ArrayLike) – angle value
Returns:: sin value of x
Return type:: NumpyLike

static cos(x: numpy.typing.ArrayLike) → NumpyLike[source]#

Parameters:: x (npt.ArrayLike) – angle value
Returns:: cos value of x
Return type:: NumpyLike

static outer(x: numpy.typing.ArrayLike, y: numpy.typing.ArrayLike) → NumpyLike[source]#

Parameters:

x (npt.ArrayLike) – vector
y (npt.ArrayLike) – vector

Returns:

outer product of x and y

Return type:

NumpyLike

static vertcat(*x: NumpyLike | numpy.typing.ArrayLike) → NumpyLike[source]#

Returns:: vertical concatenation of x
Return type:: NumpyLike

static horzcat(*x: NumpyLike | numpy.typing.ArrayLike) → NumpyLike[source]#

Returns:: horrizontal concatenation of x
Return type:: NumpyLike

static skew(x: NumpyLike | numpy.typing.ArrayLike) → NumpyLike[source]#

Parameters:: x (Union[NumpyLike, npt.ArrayLike]) – vector
Returns:: the skew symmetric matrix from x
Return type:: NumpyLike