# Commits

committed 1918a71

geometry: fixed some docstrings

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• Parent commits 0acc64e

# File ars/utils/geometry.py

` `
` 		:param pos: a size 3 vector, or 3x1 or 1x3 matrix`
` 		:type pos: tuple, :class:`numpy.ndarray` or None`
`-		:param rot: a 3x3 or 9x1 matrix`
`+		:param rot: 3x3 or 9x1 rotation matrix`
` 		:type rot: tuple, :class:`numpy.ndarray` or None`
` `
` 		"""`
` 		return tuple(self._matrix.flatten())`
` `
` 	def get_translation(self, as_numpy=False):`
`-		"""Return the translation vector component.`
`+		"""Get the translation component (vector).`
` `
` 		:param as_numpy: whether to return a numpy object or a tuple`
`-		:return: length-3 sequence`
`+		:return: 3-sequence`
` 		:rtype: tuple or :class:`numpy.ndarray``
` `
` 		"""`
` 		return tuple(rot)`
` `
` 	def get_rotation(self, as_numpy=False):`
`-		"""Return the rotation matrix component.`
`+		"""Get the rotation component (matrix).`
` `
` 		:param as_numpy: whether to return a numpy object or a tuple`
`-		:return: 3x3 matrix`
`+		:return: 3x3 rotation matrix`
` 		:rtype: tuple of tuples or :class:`numpy.ndarray``
` `
` 		"""`
` `
` 	source: transform.r2t in Corke's Robotic Toolbox (python)`
` 	`
`-	:param rot: 3x3 matrix`
`+	:param rot: 3x3 rotation matrix`
` 	:type rot: a tuple, a tuple of tuples or :class:`numpy.ndarray``
` `
` 	"""`
` `
` `
` def make_OpenGL_matrix(rot, pos):`
`-	"""Returns an OpenGL compatible (column-major, 4x4 homogeneous)`
`+	"""Return an OpenGL compatible (column-major, 4x4 homogeneous)`
` 	transformation matrix from ODE compatible (row-major, 3x3) rotation matrix`
` 	rotation and position vector position.`
` `
` `
` `
` def get_body_relative_vector(body, vector):`
`-	"""Returns the 3-vector vector transformed into the local coordinate system`
`+	"""Return the 3-vector vector transformed into the local coordinate system`
` 	of ODE body 'body'"""`
` 	return mut.rotate3(mut.transpose3(body.get_rotation()), vector)`
` `