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



Known Subclasses:
Rotation, RotationTranslation, Translation

Linear coordinate transformation.

Transformation objects represent linear coordinate transformations in a 3D space. They can be applied to vectors, returning another vector. If t is a transformation and v is a vector, t(v) returns the transformed vector.

Transformations support composition: if t1 and t2 are transformation objects, t1*t2 is another transformation object which corresponds to applying t1 after t2.

This class is an abstract base class. Instances can only be created of concrete subclasses, i.e. translations or rotations.

Instance Methods [hide private]
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.

Method Details [hide private]

inverse(self)

 
Returns: Transformation
the inverse transformation

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.