def __init__(self, transform=None, rz=0, ry=0, rx=0, scale=1,
translation=vector(0,0,0)):
"""
Construct an affine transform.
A generic transformation matrix can be supplied, or a transform
composed of rotation and scaling can be built.
Generating rotations using supplied Euler angles is performed from the
perspective of a fixed camera viewing a rotating object, i.e. points
rotate within a fixed reference frame. Rotations are applied in
aerospace (ZYX) order.
@param transform: 3x3 linear transformation matrix.
@param rx: X rotation angle in radians.
@param ry: Y rotation angle in radians.
@param rz: Z rotation angle in radians.
@param scale: Scaling factor
@param translation: 3x1 translation vector.
"""
if transform is not None:
self._transform = transform
else:
self._transform = scale * matrixFromEuler((rz,ry,rx),'zyx',False)
self._inverseTransform = np.linalg.inv(self._transform)
self._translation = translation
def checkZXY(matrix, euler):
testing.assert_almost_equal(matrixToEuler(matrix, order='zxy',
inDegrees=True), euler)
testing.assert_almost_equal(matrixFromEuler(euler, order='zxy'),
matrix)