def __init__(self, M = np.eye(4), params = None):
self.children = []
self.M = M
if params is not None:
rot_angles = np.array(params.get('rotation', [0., 0., 0.]))
translate_amount = np.array(params.get('translation', [0., 0., 0.]))
scale_amount = np.array(params.get('scale', [1., 1., 1.]))
# compute the transformation matrix that gets applied to all children of this node
Tform = GT.translate(translate_amount) * GT.rotateX(rot_angles[0]) * \
GT.rotateY(rot_angles[1]) * GT.rotateZ(rot_angles[2]) * \
GT.scale(scale_amount)
self.M = Tform.getA()
self.Minv = np.linalg.inv(self.M)
def __init__(self, M=np.eye(4), params=None):
self.children = []
self.M = M
if params is not None:
rot_angles = np.array(params.get('rotation', [0., 0., 0.]))
translate_amount = np.array(params.get('translation',
[0., 0., 0.]))
scale_amount = np.array(params.get('scale', [1., 1., 1.]))
# compute the transformation matrix that
# gets applied to all children of this node
Tform = GT.translate(translate_amount) * GT.rotateX(rot_angles[0]) * \
GT.rotateY(rot_angles[1]) * GT.rotateZ(rot_angles[2]) * \
GT.scale(scale_amount)
self.M = Tform.getA()
self.Minv = np.linalg.inv(self.M)
