brim.core.attachment.Attachment

class brim.core.attachment.Attachment(frame: ReferenceFrame, point: Point)

Bases: object

Joint attachment.

Explanation

This class holds an immutable reference to a reference frame and a point to be used in SymPy’s joints framework.

Attributes

frame	Reference frame of the attachment.
point	Point of the attachment.

Methods

__init__
from_name	Create an attachment based on a name.
to_valid_joint_arg	Convert the attachment to a massless body.

__init__(frame: ReferenceFrame, point: Point) → None

__weakref__

list of weak references to the object (if defined)

property frame: ReferenceFrame

Reference frame of the attachment.

classmethod from_name(name: str) → Attachment

Create an attachment based on a name.

property point: Point

Point of the attachment.

to_valid_joint_arg(name: str | None = None) → MasslessBody

Convert the attachment to a massless body.

Explanation

This method is used to convert an attachment to a massless body. This is necessary because sympy’s joints framework does not yet support passing only a frame and point to the joint constructor. Therefore, this method may be removed once this functionality is added to sympy.