def coil_transform_pos(pos):
pos[1] = -pos[1]
a, b, g = np.radians(pos[3:])
r_ref = tf.euler_matrix(a, b, g, 'sxyz')
t_ref = tf.translation_matrix(pos[:3])
m_img = tf.concatenate_matrices(t_ref, r_ref)
return m_img
def append_transform(self, new_transform):
self.transform = tf.concatenate_matrices(new_transform, self.transform)
def append_transform(self, new_transform):
self.transform = tf.concatenate_matrices(new_transform, self.transform)
self.ADDone.transform = tr.concatenate_matrices(new_transform, self.ADDone.transform)
self.ADDtwo.transform = tr.concatenate_matrices(new_transform, self.ADDtwo.transform)
