def calculate_fixed_transformation(self, position):
"""Returns an identity transformation.
The fixed joint is is not really a joint because it cannot move. All
degrees of freedom are locked.
"""
return Transformation()
def init_transformation(self):
if self.init_origin:
return Transformation.from_frame(self.init_origin)
else:
return Transformation()
def current_transformation(self):
if self.origin:
return Transformation.from_frame(self.origin)
else:
return Transformation()