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simscape.multibody.RigidTransform class

Package: simscape.multibody
Superclasses: simscape.multibody.Component

Construct rigid transform

Description

Use an object of the simscape.multibody.RigidTransform class to construct a rigid transform. A RigidTransform object specifies and maintains a fixed spatial relationship between two arbitrary frames. The spatial relationship includes a translation and a rotation.

To specify the Rotation property, use an object of a subclass of the simscape.multibody.Rotation class. To specify the Translation property, use an object of a subclass of the simscape.multibody.Translation class.

A RigidTransform object has two frame connectors called B and F that refer to the base and follower frames of the object.

Class Attributes

Sealed
true
ConstructOnLoad
true
RestrictsSubclassing
true

For information on class attributes, see Class Attributes.

Creation

Description

RT = simscape.multibody.RigidTransform creates a rigid transform with default values.

RT = simscape.multibody.RigidTransform(rot) creates a rigid transform with the specified rotation and default translation.

RT = simscape.multibody.RigidTransform(trans) creates a rigid transform with the specified translation and default rotation.

RT = simscape.multibody.RigidTransform(rot,trans) creates a rigid transform with the specified rotation and translation.

Properties

expand all

Rotation of the rigid transform, specified as an object of a subclass of the simscape.multibody.Rotation class.

Example: simscape.multibody.StandardAxisRotation

Attributes:

GetAccess
public
SetAccess
public
NonCopyable
true

Translation of the rigid transform, specified as an object of a subclass of the simscape.multibody.Translation class.

Example: simscape.multibody.StandardAxisTranslation

Attributes:

GetAccess
public
SetAccess
public
NonCopyable
true

Methods

Version History

Introduced in R2022a