adam.model.std_factories.std_link
=================================

.. py:module:: adam.model.std_factories.std_link


Classes
-------

.. autoapisummary::

   adam.model.std_factories.std_link.StdLink


Module Contents
---------------

.. py:class:: StdLink(link: urdf_parser_py.urdf.Link, math: adam.core.spatial_math.SpatialMath)

   Bases: :py:obj:`adam.model.Link`


   Standard Link class


   .. py:attribute:: math


   .. py:attribute:: name


   .. py:attribute:: visuals


   .. py:attribute:: inertial


   .. py:attribute:: collisions


   .. py:method:: _set_inertia(link: urdf_parser_py.urdf.Link) -> numpy.typing.ArrayLike

      :param inertia: inertia
      :type inertia: npt.ArrayLike

      :returns: set the inertia
      :rtype: npt.ArrayLike



   .. py:method:: spatial_inertia() -> numpy.typing.ArrayLike

      :returns:

                the 6x6 inertia matrix expressed at
                               the origin of the link (with rotation)
      :rtype: npt.ArrayLike



   .. py:method:: homogeneous() -> numpy.typing.ArrayLike

      :returns: the homogeneous transform of the link
      :rtype: npt.ArrayLike