def compose(self,rhs):
lhs = self
nDims = len(self.t)
t = rhs.apply(self.t) # = rhs(lhs(0))
if True:
R = Mat.identity(nDims)
for i in xrange(nDims):
R[i] = translate(rhs.apply(lhs.apply(R[i])), -t) # R[i] = Isometry(I,t)^-1(rhs(lhs(I[i])))
R = Mat(R)
else:
# Argh, I thought this was right, but it's not?? wtf?
R = self.R * rhs.R
return HyperbolicIsometry(R,t)
def __init__(self,R=None,t=None):
# R and t can't both be None, or we wouldn't know the dimension
if R == None: R = Mat.identity(len(t))
if t == None: t = [0]*len(R)
self.R = Mat(R)
self.t = Vec(t)
def identity(nDims):
return HyperbolicIsometry(Mat.identity(nDims), [0]*nDims)
