simscape.multibody.RigidTransform Class

Namespace: simscape.multibody
Superclasses: simscape.multibody.Component

Construct rigid transform

Since R2022a

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

Rotation — Rotation of rigid transform

simscape.multibody.ZeroRotation object (default) | object of subclass of simscape.multibody.Rotation class

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 — Translation of rigid transform

simscape.multibody.ZeroTranslation object (default) | object of subclass of simscape.multibody.Translation class

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

Public Methods

transformation

Version History

Introduced in R2022a