director.transformUtils module

director.transformUtils.concatenateTransforms(transformList)

Given a list of vtkTransform objects, returns a new vtkTransform which is a concatenation of the whole list using vtk post multiply. See documentation for vtkTransform::PostMultiply.

director.transformUtils.copyFrame(transform)

director.transformUtils.crossProductMatrix(x)

Computes the matrix P such that P*y = cross product of x and y :param x: :return: P, a 3x3 matrix

director.transformUtils.findTransformAxis(transform, referenceVector)

Given a vtkTransform and a reference vector, find a +/- axis of the transform that most closely matches the reference vector. Returns the matching axis index, axis, and sign.

director.transformUtils.forceMomentTransformation(inputFrame, outputFrame)

Utility getting the force-moment transformation for converting wrenches from one frame to another. Ff wrench is 6 x 1 (moment, force) expressed in input frame, then corresponding wrench in output frame would be numpy.dot(FM, wrench) = wrench_in_output_frame. :param inputFrame: A vtkTransform defining the input frame :param outputFrame: A vtkTransform defining the output frame :return: 4x4 matrix that transform a wrench from the input frame to the output frame

director.transformUtils.frameFromPositionAndRPY(position, rpy)

rpy specified in degrees

director.transformUtils.frameInterpolate(trans_a, trans_b, weight_b)

Interpolate two frames where weight_b=[0,1]

director.transformUtils.getAxesFromTransform(t)

director.transformUtils.getLookAtTransform(lookAtPosition, lookFromPosition, viewUp=[0.0, 0.0, 1.0])

director.transformUtils.getNumpyFromTransform(transform)

Given a vtkTransform, return a numpy 4x4 array

director.transformUtils.getTransformFromAxes(xaxis, yaxis, zaxis)

director.transformUtils.getTransformFromAxesAndOrigin(xaxis, yaxis, zaxis, origin)

director.transformUtils.getTransformFromNumpy(mat)

Given a numpy 4x4 array, return a vtkTransform.

director.transformUtils.getTransformFromOriginAndNormal(origin, normal, normalAxis=2)

director.transformUtils.orientationFromAxes(xaxis, yaxis, zaxis)

director.transformUtils.orientationFromNormal(normal)

Creates a frame where the Z axis points in the direction of the given normal.

director.transformUtils.poseFromTransform(transform)

Returns position, quaternion

director.transformUtils.quaternionToRollPitchYaw(quat)

director.transformUtils.rollPitchYawFromTransform(t)

director.transformUtils.rollPitchYawToQuaternion(rpy)

director.transformUtils.transformFromPose(position, quaternion)

Returns a vtkTransform