Commits

German Larrain  committed 2605f94

utils.geometry: added 'normalize' and 'is_homogeneus' method stubs to Transform; added 'rpy_to_rot_matrix', 'oa_to_rot_matrix' and 'euler_angles_to_rot_matrix' function stubs.

  • Participants
  • Parent commits 30a21ae
  • Branches dev-utils

Comments (0)

Files changed (1)

File ars/utils/geometry.py

 	def get_rotation_matrix(self):
 		raise NotImplementedError()
 
+	def normalize(self):
+		"""Normalize a homogeneous transform. See RTB's 'trnorm.m'."""
+		raise NotImplementedError()
+
+	@classmethod
+	def is_homogeneus(cls, matrix_):
+		# See RTB's 'ishomog.m'.
+		raise NotImplementedError()
+
 
 class Direction:
 	"""A vector can be used to represent a direction. Its length is not
 							np.mat([0,0,0,1])) )
 
 
+def rpy_to_rot_matrix():
+	# See RTB's 'rpy2tr.m'.
+	raise NotImplementedError()
+
+
+def oa_to_rot_matrix(orientation, approach):
+	"""Convert `orientation` and `approach` vectors to rotation matrix."""
+	# See RTB's 'oa2r.m'.
+	raise NotImplementedError()
+
+
+def euler_angles_to_rot_matrix(phi, theta, psi):
+	# See RTB's 'eul2r.m'.
+	raise NotImplementedError()
+
+
 def calc_rotation_matrix(axis, angle):
 	"""
 	Returns the row-major 3x3 rotation matrix defining a rotation around axis by