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German Larrain committed 1918a71

geometry: fixed some docstrings

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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)