Transformation
-
class
compas.geometry.
Transformation
(matrix=None)[source] Bases:
compas.base.Base
The
Transformation
represents a 4x4 transformation matrix.It is the base class for transformations like
Rotation
,Translation
,Scale
,Reflection
,Projection
andShear
.The class allows to concatenate Transformations by multiplication, to calculate the inverse transformation and to decompose a transformation into its components of rotation, translation, scale, shear, and perspective. The matrix follows the row-major order, such that translation components x, y, z are in the right column of the matrix, i.e.
M[0][3], M[1][3], M[2][3] = x, y, z
.- Parameters
matrix (list of list of float, optional) – The 4x4 transformation matrix.
Examples
>>> from compas.geometry import Frame >>> f1 = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15]) >>> T = Transformation.from_frame(f1) >>> Sc, Sh, R, Tl, P = T.decomposed() >>> Tinv = T.inverse()
Methods
concatenate
(other)Concatenate another transformation to this transformation.
concatenated
(other)Concatenate two transformations into one
Transformation
.copy
()Returns a copy of the transformation.
Decompose the
Transformation
into itsScale
,Shear
,Rotation
,Translation
andProjection
components.from_change_of_basis
(frame_from, frame_to)Computes a change of basis transformation between two frames.
from_data
(data)Creates a
Transformation
from a data dict.from_euler_angles
(euler_angles[, static, …])Construct a transformation from a rotation represented by Euler angles.
from_frame
(frame)Computes a transformation from world XY to frame.
from_frame_to_frame
(frame_from, frame_to)Computes a transformation between two frames.
from_list
(numbers)Creates a
Transformation
from a list of 16 numbers.from_matrix
(matrix)Creates a
Transformation
from a 4x4 matrix-like object.inverse
()Returns the inverse transformation.
invert
()Invert this transformation.
inverted
()Returns the inverse transformation.
to_data
()Convert a
Transformation
object to a data dict.Transpose the matrix of this transformation.
Create a transposed copy of this transformation.
Inherited Methods
from_json
(filepath)Construct an object from serialised data contained in a JSON file.
to_json
(filepath)Serialize the data representation of an object to a JSON file.
Validate the data of this object against its data schema (self.DATASCHEMA).
Validate the data loaded from a JSON representation of the data of this object against its data schema (self.DATASCHEMA).