Euclidian Transformations
EuclideanTransform
Class containing the Euclidian transforms which can be applied to a geometry.
transformations: list
property
All the Euclidian transformations which were applied to the geometry in chronological order.
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center: np.ndarray | tuple | list
property
Center of mass of the geometry.
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scale: float | list
property
Scale factor of the geometry.
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rotation_matrix: np.ndarray
property
Rotation matrix applied to the geometry.
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rotation_axis: np.ndarray | tuple | list
property
Vector representing the axis of rotation.
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rotation_angle: float | int
property
Angle by which the geometry is rotated around the axis of rotation.
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set_location(center)
Set the position of the geometry in 3D space.
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move(move_vector)
Move the geometry by a vector.
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set_scale(scale)
Sets the scaling of the geometry.
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rescale(scale)
Multiplies the existing scaling of the geometry by the scale factor.
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get_rotation_matrix(angle, axis)
staticmethod
Get the rotation matrix from the rotation angle and axis of rotation.
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set_rotation(angle, axis)
Sets the rotation matrix from the rotation angle and axis.
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rotate_rotvec(angle, axis)
Multiplies the previous existing rotation matrix by a rotation matrix calculated from the angle and axis of rotation.
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rotate_matrix(rotation_matrix)
Multiplies the previous existing rotation matrix by a given rotation matrix.
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rotate(*inputs)
Rotates the geometry by a rotation matrix or a rotation vector.
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apply(function_, co_, params_)
Apply the transformations to the geometry (SDF).
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EuclideanTransformPoints
Class containing the Euclidian transforms which can be applied to a point cloud.
transformations: list
property
All the Euclidian transformations which were applied to the point cloud in chronological order.
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center: np.ndarray | tuple | list
property
Center of mass of the point cloud.
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scale: np.ndarray | tuple | list | float | int
property
Scale factors of the point cloud.
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rotation_matrix: np.ndarray
property
Rotation matrix applied to the point cloud.
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rotation_axis: np.ndarray | tuple | list
property
Vector representing the axis of rotation.
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rotation_angle: float | int
property
Angle by which the point cloud is rotated around the axis of rotation.
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set_location(center)
Set the position of the point cloud in 3D space.
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move(move_vector)
Move the point cloud by a vector.
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set_scale(scale)
Sets the scaling of the point cloud.
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rescale(scale)
Multiplies the existing scaling of the point cloud by the scale factors.
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get_rotation_matrix(angle, axis)
staticmethod
Get the rotation matrix from the rotation angle and axis of rotation.
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set_rotation(angle, axis)
Sets the rotation matrix from the rotation angle and axis.
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rotate_rotvec(angle, axis)
Multiplies the previous existing rotation matrix by a rotation matrix calculated from the rotation angle and axis of rotation.
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rotate_matrix(rotation_matrix)
Multiplies the previous existing rotation matrix by a given rotation matrix.
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rotate(*inputs)
Rotates by a rotation matrix or a rotation vector.
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apply(points_)
Apply the transformations to the point cloud.
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