Orientation Class Reference

Class representing an orientation/quaternion for the positional tracking module. More...

Functions
None	init_orientation (self, Orientation orient)
	Deep copy from another sl.Orientation. More...
None	init_vector (self, float v0, float v1, float v2, float v3)
	Initializes the sl.Orientation with its components. More...
None	init_rotation (self, Rotation rotation)
	Initializes the sl.Orientation from an sl.Rotation. More...
None	init_translation (self, Translation tr1, Translation tr2)
	Initializes the sl.Orientation from a vector represented by two sl.Translation. More...
None	set_rotation_matrix (self, Rotation py_rotation)
	Sets the rotation component of the current sl.Transform from an sl.Rotation. More...
Rotation	get_rotation_matrix (self)
	Returns the current sl.Orientation as an sl.Rotation. More...
None	set_identity (self)
	Sets the current sl.Orientation to identity.
Orientation	identity (self, orient=Orientation())
	Creates an sl.Orientation initialized to identity. More...
None	set_zeros (self)
	Fills the current sl.Orientation with zeros.
Orientation	zeros (self, orient=Orientation())
	Creates an sl.Orientation filled with zeros. More...
None	normalize (self)
	Normalizes the current sl.Orientation.
int	size (self)
	Gets the size of the sl.Orientation. More...
np.array[float]	get (self)
	Returns a numpy array of the Orientation . More...

Static Functions
Orientation	normalize_orientation (Orientation orient)
	Gets the normalized sl.Orientation of a given sl.Orientation. More...

Detailed Description

Class representing an orientation/quaternion for the positional tracking module.

sl.Orientation is a vector defined as [ox, oy, oz, ow].

Functions

init_orientation()

None init_orientation	(		self,
		Orientation	orient
	)

Deep copy from another sl.Orientation.

Parameters

orient

: sl.Orientation to copy.

init_vector()

None init_vector	(		self,
		float	v0,
		float	v1,
		float	v2,
		float	v3
	)

Initializes the sl.Orientation with its components.

Parameters

v0	: ox component.
v1	: oy component.
v2	: oz component.
v3	: ow component.

init_rotation()

None init_rotation	(		self,
		Rotation	rotation
	)

Initializes the sl.Orientation from an sl.Rotation.

It converts the sl.Rotation representation to the sl.Orientation one.

Parameters

rotation

: sl.Rotation to be used.

init_translation()

None init_translation	(		self,
		Translation	tr1,
		Translation	tr2
	)

Initializes the sl.Orientation from a vector represented by two sl.Translation.

Parameters

tr1	: First point of the vector.
tr2	: Second point of the vector.

set_rotation_matrix()

None set_rotation_matrix	(		self,
		Rotation	py_rotation
	)

Sets the rotation component of the current sl.Transform from an sl.Rotation.

Parameters

py_rotation

: sl.Rotation to be used.

get_rotation_matrix()

Rotation get_rotation_matrix

(

self

)

Returns the current sl.Orientation as an sl.Rotation.

Returns

The rotation computed from the orientation data.

identity()

Orientation identity	(		self,
			orient = Orientation()
	)

Creates an sl.Orientation initialized to identity.

Returns

Identity sl.Orientation.

zeros()

Orientation zeros	(		self,
			orient = Orientation()
	)

Creates an sl.Orientation filled with zeros.

Returns

sl.Orientation filled with zeros.

normalize_orientation()

Orientation normalize_orientation ( Orientation  orient )

static

Gets the normalized sl.Orientation of a given sl.Orientation.

Parameters

orient

: sl.Orientation to be get the normalized orientation from.

Returns

Another sl.Orientation object equal to orient.normalize().

size()

int size

(

self

)

Gets the size of the sl.Orientation.

Returns

Size of the sl.Orientation.

Referenced by Translation.get(), and Orientation.get().

get()

np.array[float] get

(

self

)

Returns a numpy array of the Orientation .

Returns

A numpy array of the Orientation .