UM.Math.Matrix.Matrix Class Reference

This class is a 4x4 homogeneous matrix wrapper around numpy. More...

Public Member Functions
def	__init__
def	__deepcopy__ (self, memo)
def	copy (self)
def	__eq__
def	at
def	setRow
def	setColumn
def	multiply
def	preMultiply
def	getData (self)
	Get raw data. More...
def	setToIdentity (self)
	Create a 4x4 identity matrix. More...
def	invert (self)
	Invert the matrix.
def	getInverse (self)
	Return a inverted copy of the matrix. More...
def	getTransposed (self)
	Return the transpose of the matrix. More...
def	transpose (self)
def	translate
	Translate the matrix based on Vector. More...
def	setByTranslation
	Set the matrix by translation vector. More...
def	setTranslation
def	getTranslation (self)
def	rotateByAxis
	Rotate the matrix based on rotation axis. More...
def	setByRotationAxis
	Set the matrix based on rotation axis. More...
def	compose
	Return transformation matrix from sequence of transformations. More...
def	getEuler
	Return Euler angles from rotation matrix for specified axis sequence. More...
def	setByEuler
	Return homogeneous rotation matrix from Euler angles and axis sequence. More...
def	scaleByFactor
	Scale the matrix by factor wrt origin & direction. More...
def	setByScaleFactor
	Set the matrix by scale by factor wrt origin & direction. More...
def	setByScaleVector
def	getScale (self)
def	setOrtho
	Set the matrix to an orthographic projection. More...
def	setPerspective
	Set the matrix to a perspective projection. More...
def	decompose (self)
def	__repr__ (self)

Static Public Member Functions
def	fromPositionOrientationScale

Detailed Description

This class is a 4x4 homogeneous matrix wrapper around numpy.

Heavily based (in most cases a straight copy with some refactoring) on the excellent 'library' Transformations.py created by Christoph Gohlke.

Member Function Documentation

def UM.Math.Matrix.Matrix.compose	(		self,
			scale
	)

Return transformation matrix from sequence of transformations.

This is the inverse of the decompose_matrix function.

Parameters

scale	: vector of 3 scaling factors
shear	: list of shear factors for x-y, x-z, y-z axes
angles	: list of Euler angles about static x, y, z axes
translate	: translation vector along x, y, z axes
perspective	: perspective partition of matrix
mirror	vector with mirror factors (1 if that axis is not mirrored, -1 if it is)

def UM.Math.Matrix.Matrix.decompose	(		self,
			Tuple,
			Vector,
			Matrix,
			Vector,
			Vector
	)

SOURCE: https://github.com/matthew-brett/transforms3d/blob/e402e56686648d9a88aa048068333b41daa69d1a/transforms3d/affines.py
Decompose 4x4 homogenous affine matrix into parts.
The parts are translations, rotations, zooms, shears.
This is the same as :func:`decompose` but specialized for 4x4 affines.
Decomposes `A44` into ``T, R, Z, S``, such that::
   Smat = np.array([[1, S[0], S[1]],
            [0,    1, S[2]],
            [0,    0,    1]])
   RZS = np.dot(R, np.dot(np.diag(Z), Smat))
   A44 = np.eye(4)
   A44[:3,:3] = RZS
   A44[:-1,-1] = T
The order of transformations is therefore shears, followed by
zooms, followed by rotations, followed by translations.
This routine only works for shape (4,4) matrices
Parameters
----------
A44 : array shape (4,4)
Returns
-------
T : array, shape (3,)
   Translation vector
R : array shape (3,3)
    rotation matrix
Z : array, shape (3,)
   Zoom vector.  May have one negative zoom to prevent need for negative
   determinant R matrix above
S : array, shape (3,)
   Shear vector, such that shears fill upper triangle above
   diagonal to form shear matrix (type ``striu``).

def UM.Math.Matrix.Matrix.getData	(		self,
			numpy,
			ndarray
	)

Get raw data.

Returns

4x4 numpy array

def UM.Math.Matrix.Matrix.getEuler	(		self,
			axes
	)

Return Euler angles from rotation matrix for specified axis sequence.

axes : One of 24 axis sequences as string or encoded tuple Note that many Euler angle triplets can describe one matrix.

def UM.Math.Matrix.Matrix.getInverse	(		self,
			Matrix
	)

Return a inverted copy of the matrix.

Returns

The invertex matrix.

def UM.Math.Matrix.Matrix.getTransposed	(		self,
			Matrix
	)

Return the transpose of the matrix.

def UM.Math.Matrix.Matrix.rotateByAxis	(		self,
			angle
	)

Rotate the matrix based on rotation axis.

Parameters

angle	The angle by which matrix needs to be rotated.
direction	Axis by which the matrix needs to be rotated about.
point	Point where from where the rotation happens. If None, origin is used.

def UM.Math.Matrix.Matrix.scaleByFactor	(		self,
			factor
	)

Scale the matrix by factor wrt origin & direction.

Parameters

factor	The factor by which to scale
origin	From where does the scaling need to be done
direction	In what direction is the scaling (if None, it's uniform)

def UM.Math.Matrix.Matrix.setByEuler	(		self,
			ai
	)

Return homogeneous rotation matrix from Euler angles and axis sequence.

Parameters

ai	Eulers roll
aj	Eulers pitch
ak	Eulers yaw
axes	One of 24 axis sequences as string or encoded tuple

def UM.Math.Matrix.Matrix.setByRotationAxis	(		self,
			angle
	)

Set the matrix based on rotation axis.

This overwrites any existing data.

Parameters

angle	The angle by which matrix needs to be rotated in radians.
direction	Axis by which the matrix needs to be rotated about.
point	Point where from where the rotation happens. If None, origin is used.

def UM.Math.Matrix.Matrix.setByScaleFactor	(		self,
			factor
	)

Set the matrix by scale by factor wrt origin & direction.

This overwrites any existing data

Parameters

factor	The factor by which to scale
origin	From where does the scaling need to be done
direction	In what direction is the scaling (if None, it's uniform)

def UM.Math.Matrix.Matrix.setByTranslation	(		self,
			direction
	)

Set the matrix by translation vector.

This overwrites any existing data.

Parameters

direction

The vector by which the (unit) matrix needs to be translated.

def UM.Math.Matrix.Matrix.setOrtho	(		self,
			left
	)

Set the matrix to an orthographic projection.

This overwrites any existing data.

Parameters

left	The left edge of the projection
right	The right edge of the projection
top	The top edge of the projection
bottom	The bottom edge of the projection
near	The near plane of the projection
far	The far plane of the projection

def UM.Math.Matrix.Matrix.setPerspective	(		self,
			fovy
	)

Set the matrix to a perspective projection.

This overwrites any existing data.

Parameters

fovy	Field of view in the Y direction
aspect	The aspect ratio
near	Distance to the near plane
far	Distance to the far plane

def UM.Math.Matrix.Matrix.setToIdentity	(		self,
			None
	)

Create a 4x4 identity matrix.

This overwrites any existing data.

def UM.Math.Matrix.Matrix.translate	(		self,
			direction
	)

Translate the matrix based on Vector.

Parameters

direction

The vector by which the matrix needs to be translated.

---

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

• UM/Math/Matrix.py