Rotation Class Reference

Class representing a rotation for the positional tracking module. More...

Functions
None	init_rotation (self, Rotation rot)
	Deep copy from another sl.Rotation. More...
None	init_matrix (self, Matrix3f matrix)
	Initializes the sl.Rotation from a sl.Matrix3f. More...
None	init_orientation (self, Orientation orient)
	Initializes the sl.Rotation from an sl.Orientation. More...
None	init_angle_translation (self, float angle, Translation axis)
	Initializes the sl.Rotation from an angle and an axis. More...
None	set_orientation (self, Orientation py_orientation)
	Sets the sl.Rotation from an sl.Orientation. More...
Orientation	get_orientation (self)
	Returns the sl.Orientation corresponding to the current sl.Rotation. More...
npt.NDArray[float]	get_rotation_vector (self)
	Returns the 3x1 rotation vector obtained from 3x3 rotation matrix using Rodrigues formula. More...
None	set_rotation_vector (self, float input0, float input1, float input2)
	Sets the sl.Rotation from a rotation vector (using Rodrigues' transformation). More...
npt.NDArray[float]	get_euler_angles (self, radian=True)
	Converts the sl.Rotation into Euler angles. More...
None	set_euler_angles (self, float input0, float input1, float input2, radian=True)
	Sets the sl.Rotation from Euler angles. More...
np.numpy[float][float]	r (self)
	3*3 numpy array of inner data.
None	init_matrix (self, Matrix3f, matrix)
	Copy the values from another sl.Matrix3f. More...
None	inverse (self)
	Sets the sl.Matrix3f to its inverse.
Matrix3f	inverse_mat (self, Matrix3f, rotation)
	Returns the inverse of a sl.Matrix3f. More...
None	transpose (self)
	Sets the sl.Matrix3f to its transpose.
Matrix3f	transpose_mat (self, Matrix3f, rotation)
	Returns the transpose of a sl.Matrix3f. More...
Matrix3f	set_identity (self)
	Sets the sl.Matrix3f to identity. More...
None	set_zeros (self)
	Sets the sl.Matrix3f to zero.
str	get_infos (self)
	Returns the components of the sl.Matrix3f in a string. More...
str	matrix_name (self)
	Name of the matrix (optional).
int	nbElem (self)
	Number of elements in the matrix (always 9).

Static Functions
Matrix3f	identity ()
	Creates an identity sl.Matrix3f. More...
Matrix3f	zeros ()
	Creates a sl.Matrix3f filled with zeros. More...

Detailed Description

Class representing a rotation for the positional tracking module.

It inherits from the generic sl.Matrix3f class.

Functions

init_rotation()

None init_rotation	(		self,
		Rotation	rot
	)

Deep copy from another sl.Rotation.

Parameters

rot	: sl.Rotation to copy.

init_matrix() [1/2]

None init_matrix	(		self,
		Matrix3f	matrix
	)

Initializes the sl.Rotation from a sl.Matrix3f.

Parameters

matrix

: sl.Matrix3f to be used.

init_orientation()

None init_orientation	(		self,
		Orientation	orient
	)

Initializes the sl.Rotation from an sl.Orientation.

Parameters

orient

: sl.Orientation to be used.

init_angle_translation()

None init_angle_translation	(		self,
		float	angle,
		Translation	axis
	)

Initializes the sl.Rotation from an angle and an axis.

Parameters

angle	: Rotation angle in radian.
axis	: 3D axis to rotate around.

set_orientation()

None set_orientation	(		self,
		Orientation	py_orientation
	)

Sets the sl.Rotation from an sl.Orientation.

Parameters

py_orientation

: sl.Orientation containing the rotation to set.

get_orientation()

Orientation get_orientation

(

self

)

Returns the sl.Orientation corresponding to the current sl.Rotation.

Returns

Rotation of the current orientation.

get_rotation_vector()

npt.NDArray[float] get_rotation_vector

(

self

)

Returns the 3x1 rotation vector obtained from 3x3 rotation matrix using Rodrigues formula.

Returns

Rotation vector (NumPy array) created from the sl.Orientation values.

set_rotation_vector()

None set_rotation_vector	(		self,
		float	input0,
		float	input1,
		float	input2
	)

Sets the sl.Rotation from a rotation vector (using Rodrigues' transformation).

Parameters

input0	: rx component of the rotation vector.
input1	: ry component of the rotation vector.
input2	: rz component of the rotation vector.

get_euler_angles()

npt.NDArray[float] get_euler_angles	(		self,
			radian = True
	)

Converts the sl.Rotation into Euler angles.

Parameters

radian

: Whether the angle will be returned in radian or degree. Default: True

Returns

Euler angles (NumPy array) created from the sl.Rotation values representing the rotations around the X, Y and Z axes using YZX convention.

set_euler_angles()

None set_euler_angles	(		self,
		float	input0,
		float	input1,
		float	input2,
			radian = True
	)

Sets the sl.Rotation from Euler angles.

Parameters

input0	: Roll value.
input1	: Pitch value.
input2	: Yaw value.
radian	: Whether the angle is in radian or degree. Default: True

init_matrix() [2/2]

None init_matrix (   self,   Matrix3f,   matrix  )

inherited

Copy the values from another sl.Matrix3f.

Parameters

matrix

: sl.Matrix3f to copy.

inverse_mat()

Matrix3f inverse_mat (   self,   Matrix3f,   rotation  )

inherited

Returns the inverse of a sl.Matrix3f.

Parameters

rotation

: sl.Matrix3f to compute the inverse from.

Returns

The inverse of the sl.Matrix3f given as input.

transpose_mat()

Matrix3f transpose_mat (   self,   Matrix3f,   rotation  )

inherited

Returns the transpose of a sl.Matrix3f.

Parameters

rotation

: sl.Matrix3f to compute the transpose from.

Returns

The transpose of the sl.Matrix3f given as input.

set_identity()

Matrix3f set_identity (   self )

inherited

Sets the sl.Matrix3f to identity.

Returns

itself

identity()

Matrix3f identity ( )

staticinherited

Creates an identity sl.Matrix3f.

Returns

A sl.Matrix3f set to identity.

zeros()

Matrix3f zeros ( )

staticinherited

Creates a sl.Matrix3f filled with zeros.

Returns

A sl.Matrix3f filled with zeros.

get_infos()

str get_infos (   self )

inherited

Returns the components of the sl.Matrix3f in a string.

Returns

A string containing the components of the current sl.Matrix3f.

Referenced by Matrix4f.nbElem(), and Mat.verbose().