Rotation Class Reference

Designed to contain rotation data of the positional tracking. More...

Functions
def	init_rotation (self, Rotation rot)
	Deep copy from another Rotation . More...
def	init_matrix (self, Matrix3f matrix)
	Inits the Rotation from a Matrix3f . More...
def	init_orientation (self, Orientation orient)
	Inits the Rotation from a Orientation . More...
def	init_angle_translation (self, float angle, Translation axis)
	Inits the Rotation from an angle and an arbitrary 3D axis. More...
def	set_orientation (self, Orientation py_orientation)
	Sets the Rotation from an Orientation . More...
def	get_orientation (self)
	Returns the Orientation corresponding to the current Rotation . More...
def	get_rotation_vector (self)
	Returns the 3x1 rotation vector obtained from 3x3 rotation matrix using Rodrigues formula. More...
def	set_rotation_vector (self, float input0, float input1, float input2)
	Sets the Rotation from a rotation vector (using Rodrigues' transformation). More...
def	get_euler_angles (self, radian=True)
	Converts the Rotation as Euler angles. More...
def	set_euler_angles (self, float input0, float input1, float input2, radian=True)
	Sets the Rotation from the Euler angles. More...
def	inverse (self)
	Inverses the matrix.
def	inverse_mat (self, Matrix3f rotation)
	Inverses the Matrix3f passed as a parameter. More...
def	transpose (self)
	Sets the Matrix3f to its transpose.
def	transpose_mat (self, Matrix3f rotation)
	Returns the transpose of a Matrix3f. More...
def	set_identity (self)
	Sets the Matrix3f to identity. More...
def	identity (self)
	Creates an identity Matrix3f. More...
def	set_zeros (self)
	Sets the Matrix3f to zero.
def	zeros (self)
	Creates a Matrix3f filled with zeros. More...
def	get_infos (self)
	Returns the components of the Matrix3f in a string. More...
def	matrix_name (self)
	Name of the matrix (optional).
def	r (self)
	Numpy array of inner data.

Detailed Description

Designed to contain rotation data of the positional tracking.

It inherits from the generic Matrix3f .

Functions

init_rotation()

def init_rotation	(		self,
		Rotation	rot
	)

Deep copy from another Rotation .

Parameters

rot	: Rotation to be copied.

init_matrix()

def init_matrix	(		self,
		Matrix3f	matrix
	)

Inits the Rotation from a Matrix3f .

Parameters

matrix

: Matrix3f to be used.

Reimplemented from Matrix3f.

init_orientation()

def init_orientation	(		self,
		Orientation	orient
	)

Inits the Rotation from a Orientation .

Parameters

orient

: Orientation to be used.

init_angle_translation()

def init_angle_translation	(		self,
		float	angle,
		Translation	axis
	)

Inits the Rotation from an angle and an arbitrary 3D axis.

Parameters

angle	: The rotation angle in rad.
axis	: the 3D axis (Translation) to rotate around

set_orientation()

def set_orientation	(		self,
		Orientation	py_orientation
	)

Sets the Rotation from an Orientation .

Parameters

py_orientation

: the Orientation containing the rotation to set.

get_orientation()

def get_orientation

(

self

)

Returns the Orientation corresponding to the current Rotation .

Returns

The orientation of the current rotation.

get_rotation_vector()

def get_rotation_vector

(

self

)

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

Returns

The rotation vector (numpy array)

set_rotation_vector()

def set_rotation_vector	(		self,
		float	input0,
		float	input1,
		float	input2
	)

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

Parameters

input0	: First float value
input1	: Second float value
input2	: Third float value

get_euler_angles()

def get_euler_angles	(		self,
			radian = True
	)

Converts the Rotation as Euler angles.

Parameters

radian

: Bool to define whether the angle in is radian (True) or degree (False). Default: True

Returns

The Euler angles, as a numpy array representing the rotations arround the X, Y and Z axes.

set_euler_angles()

def set_euler_angles	(		self,
		float	input0,
		float	input1,
		float	input2,
			radian = True
	)

Sets the Rotation from the Euler angles.

Parameters

input0	: Roll value
input1	: Pitch value
input2	: Yaw value
radian	: Bool to define whether the angle in is radian (True) or degree (False). Default: True

inverse_mat()

def inverse_mat (   self, Matrix3f  rotation  )

inherited

Inverses the Matrix3f passed as a parameter.

Parameters

rotation

: the Matrix3f to inverse

Returns

the inversed Matrix3f

transpose_mat()

def transpose_mat (   self, Matrix3f  rotation  )

inherited

Returns the transpose of a Matrix3f.

Parameters

rotation

: the Matrix3f to compute the transpose from.

Returns

The transpose of the given Matrix3f

set_identity()

def set_identity (   self )

inherited

Sets the Matrix3f to identity.

Returns

itself

identity()

def identity (   self )

inherited

Creates an identity Matrix3f.

Returns

a Matrix3f set to identity

zeros()

def zeros (   self )

inherited

Creates a Matrix3f filled with zeros.

Returns

A Matrix3f filled with zeros

get_infos()

def get_infos (   self )

inherited

Returns the components of the Matrix3f in a string.

Returns

A string containing the components of the current of Matrix3f

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