Package Scientific :: Package Geometry :: Module Transformation :: Class RotationTranslation

Class RotationTranslation

     Transformation --+    
                      |    
RigidBodyTransformation --+
                          |
                         RotationTranslation

Combined translational and rotational transformation.

Objects of this class are not created directly, but can be the result of a composition of rotations and translations.

Instance Methods

Scientific.Geometry.Vector

__call__(self, vector)
Returns: the transformed vector

__init__(self, tensor, vector)

__mul__(self, other)

asLinearTransformation(self)

Transformation

inverse(self)
Returns: the inverse transformation

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.

Class Variables
	is_rotation_translation = `1`

Method Details

call(self, vector)
(Call operator)

Parameters:

vector - the input vector

Returns: Scientific.Geometry.Vector

the transformed vector

Overrides: Transformation.__call__

(inherited documentation)

inverse(self)

Returns: Transformation: the inverse transformation
Overrides: Transformation.inverse: (inherited documentation)

rotation(self)

Returns: Rotation: the rotational component
Overrides: RigidBodyTransformation.rotation: (inherited documentation)

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).
Overrides: RigidBodyTransformation.screwMotion: (inherited documentation)

translation(self)

Returns: Translation: the translational component. In the case of a mixed rotation/translation, this translation is executed after the rotation.
Overrides: RigidBodyTransformation.translation: (inherited documentation)