rigid_body_motion.ReferenceFrame.transform_angular_velocity¶
- ReferenceFrame.transform_angular_velocity(arr, to_frame, what='reference_frame', axis=- 1, time_axis=0, timestamps=None, return_timestamps=False, cutoff=None)[source]¶
Transform array of angular velocities from this frame to another.
- Parameters
- arr: array_like
The array to transform.
- to_frame: str or ReferenceFrame
The target reference frame. If str, the frame will be looked up in the registry under that name.
- what: str, default “reference_frame”
What frame of the velocity to transform. Can be “reference_frame”, “moving_frame” or “representation_frame”.
- axis: int, default -1
The axis of the array representing the spatial coordinates of the velocities.
- time_axis: int, default 0
The axis of the array representing the timestamps of the velocities.
- timestamps: array_like, optional
The timestamps of the velocities, corresponding to the time_axis of the array. If not None, the axis defined by time_axis will be re-sampled to the timestamps for which the transformation is defined.
- return_timestamps: bool, default False
If True, also return the timestamps after the transformation.
- cutoff: float, optional
Frequency of a low-pass filter applied to linear and angular velocity after the twist estimation as a fraction of the Nyquist frequency.
- Returns
- arr_transformed: array_like
The transformed array.
- ts: array_like, shape (n_timestamps,) or None
The timestamps after the transformation.
See also