def getSE3(self):
SE3_1 = mmMath.getSE3ByTransV(self.center)
SE3_2 = mmMath.getSE3ByRotY(self.rotateY)
SE3_3 = mmMath.getSE3ByRotX(self.rotateX)
SE3_4 = mmMath.getSE3ByTransV([0, 0, self.distance])
SE3 = numpy.dot(numpy.dot(numpy.dot(SE3_1, SE3_2), SE3_3), SE3_4)
return SE3
def getSE3(self):
SE3_1 = mmMath.getSE3ByTransV(self.center)
SE3_2 = mmMath.getSE3ByRotY(self.rotateY)
SE3_3 = mmMath.getSE3ByRotX(self.rotateX)
SE3_4 = mmMath.getSE3ByTransV([0, 0, self.distance])
SE3 = numpy.dot(numpy.dot(numpy.dot(SE3_1, SE3_2), SE3_3), SE3_4)
return SE3
def getUpRightVectors(self):
SE3_2 = mmMath.getSE3ByRotY(self.rotateY)
SE3_3 = mmMath.getSE3ByRotX(self.rotateX)
SO3 = mmMath.T2R(numpy.dot(SE3_2, SE3_3))
return numpy.dot(SO3, (0, 1, 0)), numpy.dot(SO3, (1, 0, 0))
def getUpRightVectors(self):
SE3_2 = mmMath.getSE3ByRotY(self.rotateY)
SE3_3 = mmMath.getSE3ByRotX(self.rotateX)
SO3 = mmMath.T2R(numpy.dot(SE3_2, SE3_3))
return numpy.dot(SO3, (0,1,0)), numpy.dot(SO3, (1,0,0))
