def __init__(self, parent, name=None, offset=None):
"""
Construct a point.
@param parent: Parent L{Joint}, or None for a point in the global
co-ordinate frame.
@param name: Name of this point.
@param offset: Offset of this point in the co-ordinate frame of its
parent, as a 3x1 L{np.ndarray}. Default is zero offset.
"""
TreeNode.__init__(self, parent)
assert isinstance(self, Joint) or isinstance(parent, Joint)
self.positionOffset = np.zeros((3,1)) if offset is None else offset
self.name = name
def __init__(self, parent, name=None, offset=None):
"""
Construct a point.
@param parent: Parent L{Joint}, or None for a point in the global
co-ordinate frame.
@param name: Name of this point.
@param offset: Offset of this point in the co-ordinate frame of its
parent, as a 3x1 L{np.ndarray}. Default is zero offset.
"""
TreeNode.__init__(self, parent)
assert isinstance(self, Joint) or isinstance(parent, Joint)
self.positionOffset = np.zeros((3, 1)) if offset is None else offset
self.name = name
def __init__(self, rootdata):
"""
Construct a new ASFRoot.
@param rootdata: The L{ParseResults} object representing the root
segment data from the ASF file.
"""
TreeNode.__init__(self, None)
self.name = 'root'
self.childoffset = vector(0,0,0)
self.isDummy = False
axis = vector(*rootdata.axis)[::-1]
rotOrder = rootdata.axisRotationOrder[::-1]
self.rotationOffset = Quaternion.fromEuler(axis, rotOrder).conjugate
self.channels = rootdata.channels
def __init__(self, rootdata):
"""
Construct a new ASFRoot.
@param rootdata: The L{ParseResults} object representing the root
segment data from the ASF file.
"""
TreeNode.__init__(self, None)
self.name = 'root'
self.childoffset = vector(0, 0, 0)
self.isDummy = False
axis = vector(*rootdata.axis)[::-1]
rotOrder = rootdata.axisRotationOrder[::-1]
self.rotationOffset = Quaternion.fromEuler(axis, rotOrder).conjugate
self.channels = rootdata.channels
def __init__(self, parent, bonedata, scale):
"""
Consruct a new ASFBone.
@param parent: The parent bone of this bone.
@param bonedata: The L{ParseResults} object representing the bone
data from the ASF file.
"""
TreeNode.__init__(self, parent)
self.name = bonedata.name
axis = vector(*bonedata.axis)[::-1]
rotOrder = bonedata.axisRotationOrder[::-1]
self.rotationOffset = Quaternion.fromEuler(axis, rotOrder).conjugate
self.childoffset = self.rotationOffset.rotateVector(
vector(*bonedata.direction) * bonedata.length * scale)
self.isDummy = bonedata.channels is ''
self.channels = bonedata.channels
def __init__(self, parent, bonedata, scale):
"""
Consruct a new ASFBone.
@param parent: The parent bone of this bone.
@param bonedata: The L{ParseResults} object representing the bone
data from the ASF file.
"""
TreeNode.__init__(self, parent)
self.name = bonedata.name
axis = vector(*bonedata.axis)[::-1]
rotOrder = bonedata.axisRotationOrder[::-1]
self.rotationOffset = Quaternion.fromEuler(axis, rotOrder).conjugate
self.childoffset = self.rotationOffset.rotateVector(
vector(*bonedata.direction) * bonedata.length * scale)
self.isDummy = bonedata.channels is ''
self.channels = bonedata.channels
