Transform

class rnamake.transform.Transform(*args)

Bases: object

Basic transform object, stores a 4x4 homogenous transform that contains both the rotation and translation of a transform

#with full matrix
>>> t = Transform(np.eye(4))
>>> t.rotation()
[[ 1.  0.  0.]
 [ 0.  1.  0.]
 [ 0.  0.  1.]]
>>> print t.translation()
[ 0.  0.  0.]

# with rotation and translation
>>> r = np.eye(3)
>>> d = np.array([1, 1, 1])
>>> t = Transform(r, d)
>>> print t.rotation()
[[ 1.  0.  0.]
 [ 0.  1.  0.]
 [ 0.  0.  1.]]
>>> print t.translation()
[ 1.  1.  1.]

Attributes:

matrix : np.array

4x4 matrix that holds both the rotation and translation

rotation()

get rotation of this transform

translation()

get translation of this transform