def set_pose(self, posx, posy, posz, qw, qx, qy, qz):
# embed()
posx, posy, posz = GroundtoGraphics((posx, posy, posz))
R = rotation([qw, qx, qy, qz])
T = GraphicstoGroundRot()
self.translation_matrix = translation([posx, posy, posz])
self.rotation_matrix[0:3, 0:3] = numpy.dot(R.T, T)
def translate(self, x, y, z):
self.translation_matrix = numpy.dot(self.translation_matrix,
translation([x, y, z]))
def translate(self, x, y, z):
self.translation = numpy.dot(self.translation, translation([x, y, z]))
def translate(self, x, y, z):
self.translation_matrix = numpy.dot(
self.translation_matrix,
translation([x, y, z]))
def translate(self, x, y, z):
self.translation = numpy.dot(self.translation, translation([x, y, z]))
from transformation import transformation, rotation, scaling, translation, shear
lines = [[[50, 50], [-50, 50]], [[-50, 50], [-50, -50]], [[-50, -50],
[50, -50]],
[[50, -50], [50, 50]]]
transformation('square.svg', lines, 0)
transformation('rotation45.svg', lines, 1, rotation(45))
transformation('rotation17x10.svg', lines, 17, rotation(10))
# uloha 2
transformation('ukazka-2.svg', lines, 15, rotation(10), scaling(1.1, 0.8))
# uloha 3
transformation('ukazka-3.svg', lines, 25, shear(1.3), rotation(10),
scaling(0.9, 0.9), translation(50, 50))
# uloha 1
lines = [[[-25, 0], [25, 0]], [[25, 0], [25, 50]], [[25, 50], [-25, 50]],
[[-25, 50], [-25, 0]]]
transformation('ukazka-1.svg', lines, 10, rotation(20), scaling(1.1, 1.1),
translation(5, 10))
transformation('ukazka-1-uprava.svg', lines, 10, rotation(20),
scaling(1.1, 1.1), translation(5, 0))