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))