Package Scientific :: Package Geometry :: Module Transformation :: Class RigidBodyTransformation

Class RigidBodyTransformation

Transformation --+
                 |
                RigidBodyTransformation

Known Subclasses:

Combination of translations and rotations

Instance Methods

Rotation

rotation(self)
Returns: the rotational component

screwMotion(self)
Returns: the four parameters (reference, direction, angle, distance) of a screw-like motion that is equivalent to the transformation.

Translation

translation(self)
Returns: the translational component.

Inherited from Transformation: __call__, inverse

Method Details

rotation(self)

Returns: Rotation: the rotational component

screwMotion(self)

Returns:: the four parameters (reference, direction, angle, distance) of a screw-like motion that is equivalent to the transformation. The screw motion consists of a displacement of distance (a float) along direction (a normalized Scientific.Geometry.Vector) plus a rotation of angle radians around an axis pointing along direction and passing through the point reference (a Scientific.Geometry.Vector).

translation(self)

Returns: Translation: the translational component. In the case of a mixed rotation/translation, this translation is executed after the rotation.