def test_FramesRenderer_OrientationsRenderer():
frame0 = mm.I_SE3()
frame1 = mm.Rp2T(mm.exp(mm.v3(0, 1, 0), math.pi / 8.), (1, 0, 0))
viewer = ysv.SimpleViewer()
viewer.doc.addRenderer('frame0', FramesRenderer([frame0], (255, 0, 0)))
viewer.doc.addRenderer('frame1', FramesRenderer([frame1], (255, 0, 0)))
viewer.doc.addRenderer(
'orientation0',
OrientationsRenderer([mm.T2R(frame0)], [mm.T2p(frame0)],
(0, 255, 0)))
viewer.doc.addRenderer(
'orientation1',
OrientationsRenderer([mm.T2R(frame1)], [mm.T2p(frame1)],
(0, 255, 0)))
viewer.show()
Fl.run()
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))
