def add_rotation(
self,
axis: QVector3D,
angle: float,
name: str = None,
depends_on: Transformation = None,
values: Dataset = Dataset(
parent_node=None,
name="",
values=0,
type=ValueTypes.DOUBLE,
),
target_pos: int = -1,
) -> Transformation:
"""
Note, currently assumes angle is in degrees
:param axis: axis
:param angle:
:param name: Name of the rotation group (Optional)
:param depends_on: existing transformation which the new one depends on (otherwise relative to origin)
:param values: The translation distance information.
:param target_pos: Target position.
"""
values.parent_node = self
return self._create_and_add_transform(
name,
TransformationType.ROTATION,
angle,
"degrees",
axis,
depends_on,
values,
target_pos,
)
def add_translation(
self,
vector: QVector3D,
name: str = None,
depends_on: Transformation = None,
values: Dataset = Dataset(parent_node=None,
name="",
values=0,
type=ValueTypes.DOUBLE),
target_pos: int = -1,
) -> Transformation:
"""
Note, currently assumes translation is in metres
:param vector: direction and magnitude of translation as a 3D vector
:param name: name of the translation group (Optional)
:param depends_on: existing transformation which the new one depends on (otherwise relative to origin)
:param values: The translation distance information.
:param target_pos: Target position.
"""
values.parent_node = self
unit_vector, _ = _normalise(vector)
return self._create_and_add_transform(
name,
TransformationType.TRANSLATION,
0.0,
"m",
unit_vector,
depends_on,
values,
target_pos,
)