def is_9DOF(self):
tra, scale, rot, rot_axis = self.to_translation_scale_rotation()
if tra is None:
return False
tra_mat = tr.translation_matrix(tra)
scale_mat = numpy.diag([scale[0],scale[1],scale[2],1.0])
rot_mat = tr.rotation_matrix(rot,rot_axis)
mat = numpy.dot(tra_mat, numpy.dot(scale_mat, rot_mat ) )
return tr.is_same_transform(mat,self.data)
def is_9DOF(self):
tra, scale, rot, rot_axis = self.to_translation_scale_rotation()
if tra is None:
return False
tra_mat = tr.translation_matrix(tra)
scale_mat = numpy.diag([scale[0],scale[1],scale[2],1.0])
rot_mat = tr.rotation_matrix(rot,rot_axis)
mat = numpy.dot(tra_mat, numpy.dot(scale_mat, rot_mat ) )
return tr.is_same_transform(mat,self.data)
def __init__(self, translation, rotation_angle, rotation_direction, rotation_point=None, map_from="",map_to=""):
rot = tr.rotation_matrix(rotation_angle, rotation_direction, rotation_point)
tra = tr.translation_matrix(translation)
mat = numpy.dot(tra,rot)
Transform_Affine.__init__(self, mat,map_from,map_to)
def __init__(self, angle, direction, point=None, map_from="",map_to=""):
mat = tr.rotation_matrix(angle, direction, point)
Transform_Affine.__init__(self, mat,map_from,map_to)
def from_translation_rotation(self, tra, rot, axis=[0,0,1]):
return numpy.dot(tr.translation_matrix(tra), tr.rotation_matrix(rot,axis) )
def __init__(self, translation, rotation_angle, rotation_direction, rotation_point=None, map_from="",map_to=""):
rot = tr.rotation_matrix(rotation_angle, rotation_direction, rotation_point)
tra = tr.translation_matrix(translation)
mat = numpy.dot(tra,rot)
Transform_Affine.__init__(self, mat,map_from,map_to)
def __init__(self, angle, direction, point=None, map_from="",map_to=""):
mat = tr.rotation_matrix(angle, direction, point)
Transform_Affine.__init__(self, mat,map_from,map_to)
def from_translation_rotation(self, tra, rot, axis=[0,0,1]):
return numpy.dot(tr.translation_matrix(tra), tr.rotation_matrix(rot,axis) )