Public Member Functions | Private Attributes
hrl_geom.transformations.Arcball Class Reference

List of all members.

Public Member Functions

def __init__
def down
def drag
def getconstrain
def matrix
def next
def place
def setaxes
def setconstrain

Private Attributes

 _axes
 _axis
 _center
 _constrain
 _qdown
 _qnow
 _qpre
 _radius
 _vdown

Detailed Description

Virtual Trackball Control.

>>> ball = Arcball()
>>> ball = Arcball(initial=numpy.identity(4))
>>> ball.place([320, 320], 320)
>>> ball.down([500, 250])
>>> ball.drag([475, 275])
>>> R = ball.matrix()
>>> numpy.allclose(numpy.sum(R), 3.90583455)
True
>>> ball = Arcball(initial=[0, 0, 0, 1])
>>> ball.place([320, 320], 320)
>>> ball.setaxes([1,1,0], [-1, 1, 0])
>>> ball.setconstrain(True)
>>> ball.down([400, 200])
>>> ball.drag([200, 400])
>>> R = ball.matrix()
>>> numpy.allclose(numpy.sum(R), 0.2055924)
True
>>> ball.next()

Definition at line 1356 of file transformations.py.


Constructor & Destructor Documentation

def hrl_geom.transformations.Arcball.__init__ (   self,
  initial = None 
)
Initialize virtual trackball control.

initial : quaternion or rotation matrix

Definition at line 1380 of file transformations.py.


Member Function Documentation

def hrl_geom.transformations.Arcball.down (   self,
  point 
)
Set initial cursor window coordinates and pick constrain-axis.

Definition at line 1435 of file transformations.py.

def hrl_geom.transformations.Arcball.drag (   self,
  point 
)
Update current cursor window coordinates.

Definition at line 1446 of file transformations.py.

Return state of constrain to axis mode.

Definition at line 1431 of file transformations.py.

Return homogeneous rotation matrix.

Definition at line 1467 of file transformations.py.

def hrl_geom.transformations.Arcball.next (   self,
  acceleration = 0.0 
)
Continue rotation in direction of last drag.

Definition at line 1462 of file transformations.py.

def hrl_geom.transformations.Arcball.place (   self,
  center,
  radius 
)
Place Arcball, e.g. when window size changes.

center : sequence[2]
    Window coordinates of trackball center.
radius : float
    Radius of trackball in window coordinates.

Definition at line 1407 of file transformations.py.

def hrl_geom.transformations.Arcball.setaxes (   self,
  axes 
)
Set axes to constrain rotations.

Definition at line 1420 of file transformations.py.

def hrl_geom.transformations.Arcball.setconstrain (   self,
  constrain 
)
Set state of constrain to axis mode.

Definition at line 1427 of file transformations.py.


Member Data Documentation

Definition at line 1384 of file transformations.py.

Definition at line 1384 of file transformations.py.

Definition at line 1384 of file transformations.py.

Definition at line 1384 of file transformations.py.

Definition at line 1384 of file transformations.py.

Definition at line 1384 of file transformations.py.

Definition at line 1384 of file transformations.py.

Definition at line 1384 of file transformations.py.

Definition at line 1384 of file transformations.py.


The documentation for this class was generated from the following file:


hrl_geom
Author(s): Kelsey Hawkins / kphawkins@gatech.edu, Advisor: Prof. Charlie Kemp (Healthcare Robotics Lab at Georgia Tech)
autogenerated on Wed Nov 27 2013 11:37:25