Class representing a rotation for the positional tracking module. More...

Functions
None	init_rotation (self, Rotation rot)
	Deep copy from another sl.Rotation. More...

None	init_matrix (self, Matrix3f matrix)
	Initializes the sl.Rotation from a sl.Matrix3f. More...

None	init_orientation (self, Orientation orient)
	Initializes the sl.Rotation from an sl.Orientation. More...

None	init_angle_translation (self, float angle, Translation axis)
	Initializes the sl.Rotation from an angle and an axis. More...

None	set_orientation (self, Orientation py_orientation)
	Sets the sl.Rotation from an sl.Orientation. More...

Orientation	get_orientation (self)
	Returns the sl.Orientation corresponding to the current sl.Rotation. More...

np.array[float]	get_rotation_vector (self)
	Returns the 3x1 rotation vector obtained from 3x3 rotation matrix using Rodrigues formula. More...

None	set_rotation_vector (self, float input0, float input1, float input2)
	Sets the sl.Rotation from a rotation vector (using Rodrigues' transformation). More...

np.array[float]	get_euler_angles (self, radian=True)
	Converts the sl.Rotation into Euler angles. More...

None	set_euler_angles (self, float input0, float input1, float input2, radian=True)
	Sets the sl.Rotation from Euler angles. More...

None	inverse (self)
	Sets the sl.Matrix3f to its inverse.

Matrix3f	inverse_mat (self, Matrix3f rotation)
	Returns the inverse of a sl.Matrix3f. More...

None	transpose (self)
	Sets the sl.Matrix3f to its transpose.

Matrix3f	transpose_mat (self, Matrix3f rotation)
	Returns the transpose of a sl.Matrix3f. More...

Matrix3f	set_identity (self)
	Sets the sl.Matrix3f to identity. More...

Matrix3f	identity (self)
	Creates an identity sl.Matrix3f. More...

None	set_zeros (self)
	Sets the sl.Matrix3f to zero.

Matrix3f	zeros (self)
	Creates a sl.Matrix3f filled with zeros. More...

str	get_infos (self)
	Returns the components of the sl.Matrix3f in a string. More...

str	matrix_name (self)
	Name of the matrix (optional).

np.numpy[float][float]	r (self)
	3*3 numpy array of inner data.

Detailed Description

Class representing a rotation for the positional tracking module.

It inherits from the generic sl.Matrix3f class.

Functions

◆ init_rotation()

None init_rotation	(		self,
		Rotation	rot
	)

Deep copy from another sl.Rotation.

Parameters

rot	: sl.Rotation to copy.

◆ init_matrix()

None init_matrix	(		self,
		Matrix3f	matrix
	)

Initializes the sl.Rotation from a sl.Matrix3f.

Parameters

matrix : sl.Matrix3f to be used.

Reimplemented from Matrix3f.

◆ init_orientation()

None init_orientation	(		self,
		Orientation	orient
	)

Initializes the sl.Rotation from an sl.Orientation.

Parameters

orient : sl.Orientation to be used.

◆ init_angle_translation()

None init_angle_translation	(		self,
		float	angle,
		Translation	axis
	)

Initializes the sl.Rotation from an angle and an axis.

Parameters

angle	: Rotation angle in radian.
axis	: 3D axis to rotate around.

◆ set_orientation()

None set_orientation	(		self,
		Orientation	py_orientation
	)

Sets the sl.Rotation from an sl.Orientation.

Parameters

py_orientation : sl.Orientation containing the rotation to set.

◆ get_orientation()

Orientation get_orientation ( self )

Returns the sl.Orientation corresponding to the current sl.Rotation.

Returns: Rotation of the current orientation.

◆ get_rotation_vector()

np.array[float] get_rotation_vector ( self )

Returns the 3x1 rotation vector obtained from 3x3 rotation matrix using Rodrigues formula.

Returns: Rotation vector (NumPy array) created from the sl.Orientation values.

◆ set_rotation_vector()

None set_rotation_vector	(		self,
		float	input0,
		float	input1,
		float	input2
	)

Sets the sl.Rotation from a rotation vector (using Rodrigues' transformation).

Parameters

input0	: `rx` component of the rotation vector.
input1	: `ry` component of the rotation vector.
input2	: `rz` component of the rotation vector.

◆ get_euler_angles()

np.array[float] get_euler_angles	(	self,
		radian = `True`
	)

Converts the sl.Rotation into Euler angles.

Parameters

radian : Whether the angle will be returned in radian or degree. Default: True

Returns: Euler angles (NumPy array) created from the sl.Rotation values representing the rotations around the X, Y and Z axes using YZX convention.

◆ set_euler_angles()

None set_euler_angles	(		self,
		float	input0,
		float	input1,
		float	input2,
			radian = `True`
	)

Sets the sl.Rotation from Euler angles.

Parameters

input0	: Roll value.
input1	: Pitch value.
input2	: Yaw value.
radian	: Whether the angle is in radian or degree. Default: True

◆ inverse_mat()

Matrix3f inverse_mat	(		self,
		Matrix3f	rotation
	)

inherited

Returns the inverse of a sl.Matrix3f.

Parameters

rotation : sl.Matrix3f to compute the inverse from.

Returns: The inverse of the sl.Matrix3f given as input.

◆ transpose_mat()

Matrix3f transpose_mat	(		self,
		Matrix3f	rotation
	)

inherited

Returns the transpose of a sl.Matrix3f.

Parameters

rotation : sl.Matrix3f to compute the transpose from.

Returns: The transpose of the sl.Matrix3f given as input.

◆ set_identity()

Matrix3f set_identity ( self )

inherited

Sets the sl.Matrix3f to identity.

Returns: itself

◆ identity()

Matrix3f identity ( self )

inherited

Creates an identity sl.Matrix3f.

Returns: A sl.Matrix3f set to identity.

◆ zeros()

Matrix3f zeros ( self )

inherited

Creates a sl.Matrix3f filled with zeros.

Returns: A sl.Matrix3f filled with zeros.

◆ get_infos()

str get_infos ( self )

inherited

Returns the components of the sl.Matrix3f in a string.

Returns: A string containing the components of the current sl.Matrix3f.

Referenced by Matrix4f.m(), and Mat.verbose().