warp.spatial_vector#

warp.spatial_vector( dtype: Float = ..., ) → Vector[Float, Literal[6]]#

Kernel: true
Python: false
Differentiable: true

Return a zero 6D spatial vector.

See the overload that accepts w and v for an example.

Parameters:: dtype – Scalar type of the components. Defaults to float32.
Returns:: The zero spatial vector.

warp.spatial_vector( w: Vector[Float, Literal[3]], v: Vector[Float, Literal[3]], dtype: Float = ..., ) → Vector[Float, Literal[6]]

Kernel: true
Python: false
Differentiable: true

Construct a 6D spatial vector from the two 3D vectors w and v.

A spatial vector can represent a twist (angular velocity, linear velocity) or a wrench (torque, force). Warp does not distinguish these interpretations at the type level. Both vectors must have the same scalar type.

Parameters:

w – First 3D part: angular velocity for a twist or torque for a wrench.
v – Last 3D part: linear velocity for a twist or force for a wrench.
dtype – Scalar type of the components, inferred from w and v when omitted.

Returns:

The spatial vector (w.x, w.y, w.z, v.x, v.y, v.z).

Example

@wp.kernel
def make_twists(out: wp.array[wp.spatial_vector]):
    # spinning about the z axis while moving along x
    out[0] = wp.spatial_vector(wp.vec3(0.0, 0.0, 2.0), wp.vec3(1.0, 0.0, 0.0))
    out[1] = wp.spatial_vector(0.0, 0.0, 2.0, 1.0, 0.0, 0.0)

out = wp.empty(2, dtype=wp.spatial_vector)
wp.launch(make_twists, dim=1, outputs=[out])
print(out.numpy())

[[0. 0. 2. 1. 0. 0.]
 [0. 0. 2. 1. 0. 0.]]

warp.spatial_vector( wx: Float, wy: Float, wz: Float, vx: Float, vy: Float, vz: Float, dtype: Float = ..., ) → Vector[Float, Literal[6]]

Kernel: true
Python: false
Differentiable: true

Construct a 6D spatial vector from six scalar components.

See the overload that accepts w and v for the twist and wrench interpretations. All values must have the same scalar type.

Parameters:

wx – First component of the first 3D part.
wy – Second component of the first 3D part.
wz – Third component of the first 3D part.
vx – First component of the last 3D part.
vy – Second component of the last 3D part.
vz – Third component of the last 3D part.
dtype – Scalar type of the components, inferred from the arguments when omitted.

Returns:

The spatial vector (wx, wy, wz, vx, vy, vz).

See the overload that accepts w and v for an example.