def decompose(self):
"""Decomposes the ``Transformation`` into ``Scale``, ``Shear``, \
``Rotation``, ``Translation`` and ``Perspective``.
Example:
>>> trans1 = [1, 2, 3]
>>> angle1 = [-2.142, 1.141, -0.142]
>>> scale1 = [0.123, 2, 0.5]
>>> T1 = Translation(trans1)
>>> R1 = Rotation.from_euler_angles(angle1)
>>> S1 = Scale(scale1)
>>> M = (T1 * R1) * S1
>>> Sc, Sh, R, T, P = M.decompose()
>>> S1 == Sc
True
>>> R1 == R
True
>>> T1 == T
True
"""
from compas.geometry.xforms import Scale
from compas.geometry.xforms import Shear
from compas.geometry.xforms import Rotation
from compas.geometry.xforms import Translation
from compas.geometry.xforms import Projection
sc, sh, a, t, p = decompose_matrix(self.matrix)
Sc = Scale(sc)
Sh = Shear.from_entries(sh)
R = Rotation.from_euler_angles(a, static=True, axes='xyz')
T = Translation(t)
P = Projection.from_entries(p)
return Sc, Sh, R, T, P
def calculate_continous_transformation(self, position):
"""Returns a transformation of a continous joint.
A continous joint rotates about the axis and has no upper and lower
limits.
Args:
position (float): the angle in radians
"""
return Rotation.from_axis_and_angle(self.axis.vector, position, self.origin.point)
def get_forward_transformations(self, configuration):
"""Calculate the transformations according to the configuration.
Args:
configuration (:class:`Configuration`): The robot's configuration.
Returns:
transformations (:obj:`list` of :class:`Transformation`): The
transformations for each link.
"""
q0, q1, q2, q3, q4, q5 = configuration.joint_values
j0, j1, j2, j3, j4, j5 = self.j0, self.j1, self.j2, self.j3, self.j4, self.j5
T0 = Rotation.from_axis_and_angle(subtract_vectors(j0[1], j0[0]), q0, j0[1])
j1 = transform_points(j1, T0)
T1 = Rotation.from_axis_and_angle(subtract_vectors(j1[1], j1[0]), q1, j1[1]) * T0
j2 = transform_points(j2, T1)
T2 = Rotation.from_axis_and_angle(subtract_vectors(j2[1], j2[0]), q2, j2[1]) * T1
j3 = transform_points(j3, T2)
T3 = Rotation.from_axis_and_angle(subtract_vectors(j3[1], j3[0]), q3, j3[1]) * T2
j4 = transform_points(j4, T3)
T4 = Rotation.from_axis_and_angle(subtract_vectors(j4[1], j4[0]), q4, j4[1]) * T3
j5 = transform_points(j5, T4)
T5 = Rotation.from_axis_and_angle(subtract_vectors(j5[1], j5[0]), q5, j5[1]) * T4
# now apply the transformation to the base
T0 = self.transformation_RCS_WCS * T0
T1 = self.transformation_RCS_WCS * T1
T2 = self.transformation_RCS_WCS * T2
T3 = self.transformation_RCS_WCS * T3
T4 = self.transformation_RCS_WCS * T4
T5 = self.transformation_RCS_WCS * T5
return T0, T1, T2, T3, T4, T5
True
"""
frame = self.copy()
frame.transform(transformation)
return frame
# ==============================================================================
# Main
# ==============================================================================
if __name__ == '__main__':
f1 = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15])
R = Rotation.from_frame(f1)
f2 = Frame.from_rotation(R, point=f1.point)
print(f1 == f2)
print(f2)
f1 = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15])
T = Transformation.from_frame(f1)
f2 = Frame.from_transformation(T)
print(f1 == f2)
ea1 = [0.5, 0.4, 0.8]
M = matrix_from_euler_angles(ea1)
f = Frame.from_matrix(M)
ea2 = f.euler_angles()
print(allclose(ea1, ea2))