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<title>Scientific.Geometry.Transformation.RigidBodyTransformation</title>
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<a href="Scientific-module.html">Package Scientific</a> ::
<a href="Scientific.Geometry-module.html">Package Geometry</a> ::
<a href="Scientific.Geometry.Transformation-module.html">Module Transformation</a> ::
Class RigidBodyTransformation
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<!-- ==================== CLASS DESCRIPTION ==================== -->
<h1 class="epydoc">Class RigidBodyTransformation</h1><p class="nomargin-top"></p>
<pre class="base-tree">
<a href="Scientific.Geometry.Transformation.Transformation-class.html">Transformation</a> --+
|
<strong class="uidshort">RigidBodyTransformation</strong>
</pre>
<dl><dt>Known Subclasses:</dt>
<dd>
<ul class="subclass-list">
<li><a href="Scientific.Geometry.Transformation.Rotation-class.html">Rotation</a></li><li>, <a href="Scientific.Geometry.Transformation.RotationTranslation-class.html">RotationTranslation</a></li><li>, <a href="Scientific.Geometry.Transformation.Translation-class.html">Translation</a></li> </ul>
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<hr />
<p>Combination of translations and rotations</p>
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<span class="summary-type"><a href="Scientific.Geometry.Transformation.Rotation-class.html"
class="link">Rotation</a></span>
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<td><span class="summary-sig"><a href="Scientific.Geometry.Transformation.RigidBodyTransformation-class.html#rotation" class="summary-sig-name">rotation</a>(<span class="summary-sig-arg">self</span>)</span><br />
Returns:
the rotational component</td>
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<span class="summary-type"> </span>
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<td><span class="summary-sig"><a href="Scientific.Geometry.Transformation.RigidBodyTransformation-class.html#screwMotion" class="summary-sig-name">screwMotion</a>(<span class="summary-sig-arg">self</span>)</span><br />
Returns:
the four parameters (reference, direction, angle, distance) of a
screw-like motion that is equivalent to the transformation.</td>
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<span class="summary-type"><a href="Scientific.Geometry.Transformation.Translation-class.html"
class="link">Translation</a></span>
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<td><span class="summary-sig"><a href="Scientific.Geometry.Transformation.RigidBodyTransformation-class.html#translation" class="summary-sig-name">translation</a>(<span class="summary-sig-arg">self</span>)</span><br />
Returns:
the translational component.</td>
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<p class="indent-wrapped-lines"><b>Inherited from <code><a href="Scientific.Geometry.Transformation.Transformation-class.html">Transformation</a></code></b>:
<code><a href="Scientific.Geometry.Transformation.Transformation-class.html#__call__">__call__</a></code>,
<code><a href="Scientific.Geometry.Transformation.Transformation-class.html#inverse">inverse</a></code>
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<a name="rotation"></a>
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<h3 class="epydoc"><span class="sig"><span class="sig-name">rotation</span>(<span class="sig-arg">self</span>)</span>
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<dl class="fields">
<dt>Returns: <a href="Scientific.Geometry.Transformation.Rotation-class.html"
class="link">Rotation</a></dt>
<dd>the rotational component</dd>
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<a name="screwMotion"></a>
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<h3 class="epydoc"><span class="sig"><span class="sig-name">screwMotion</span>(<span class="sig-arg">self</span>)</span>
</h3>
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>
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<dl class="fields">
<dt>Returns:</dt>
<dd>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
<code>float</code>) along direction (a normalized <a
href="Scientific.Geometry.Vector-class.html"
class="link">Scientific.Geometry.Vector</a>) plus a rotation of
angle radians around an axis pointing along direction and passing
through the point reference (a <a
href="Scientific.Geometry.Vector-class.html"
class="link">Scientific.Geometry.Vector</a>).</dd>
</dl>
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<a name="translation"></a>
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<h3 class="epydoc"><span class="sig"><span class="sig-name">translation</span>(<span class="sig-arg">self</span>)</span>
</h3>
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>
</td>
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<dl class="fields">
<dt>Returns: <a href="Scientific.Geometry.Transformation.Translation-class.html"
class="link">Translation</a></dt>
<dd>the translational component. In the case of a mixed
rotation/translation, this translation is executed <b>after</b>
the rotation.</dd>
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