/usr/share/pyshared/Scientific/Geometry/Transformation.py is in python-scientific 2.8-4.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 | # This module defines classes that represent coordinate translations,
# rotations, and combinations of translation and rotation.
#
# Written by: Konrad Hinsen <hinsen@cnrs-orleans.fr>
# Contributions from Pierre Legrand <pierre.legrand@synchrotron-soleil.fr>
# last revision: 2008-8-22
#
"""
Linear transformations in 3D space
"""
from Scientific import Geometry
from Scientific import N; Numeric = N
from math import atan2
#
# Abstract base classes
#
class Transformation:
"""
Linear coordinate transformation.
Transformation objects represent linear coordinate transformations
in a 3D space. They can be applied to vectors, returning another vector.
If t is a transformation and v is a vector, t(v) returns
the transformed vector.
Transformations support composition: if t1 and t2 are transformation
objects, t1*t2 is another transformation object which corresponds
to applying t1 B{after} t2.
This class is an abstract base class. Instances can only be created
of concrete subclasses, i.e. translations or rotations.
"""
def __call__(self, vector):
"""
@param vector: the input vector
@type vector: L{Scientific.Geometry.Vector}
@returns: the transformed vector
@rtype: L{Scientific.Geometry.Vector}
"""
return NotImplementedError
def inverse(self):
"""
@returns: the inverse transformation
@rtype: L{Transformation}
"""
return NotImplementedError
#
# Rigid body transformations
#
class RigidBodyTransformation(Transformation):
"""
Combination of translations and rotations
"""
def rotation(self):
"""
@returns: the rotational component
@rtype: L{Rotation}
"""
pass
def translation(self):
"""
@returns: the translational component. In the case of a mixed
rotation/translation, this translation is executed
B{after} the rotation.
@rtype: L{Translation}
"""
pass
def screwMotion(self):
"""
@returns: the four parameters
(reference, direction, angle, distance)
of a screw-like motion that is equivalent to the
transformation. The screw motion consists of a displacement
of distance (a C{float}) along direction (a normalized
L{Scientific.Geometry.Vector}) plus a rotation of
angle radians around an axis pointing along
direction and passing through the point reference
(a L{Scientific.Geometry.Vector}).
"""
pass
#
# Pure translation
#
class Translation(RigidBodyTransformation):
"""
Translational transformation
"""
def __init__(self, vector):
"""
@param vector: the displacement vector
@type vector: L{Scientific.Geometry.Vector}
"""
self.vector = vector
is_translation = 1
def asLinearTransformation(self):
return LinearTransformation(Geometry.delta, self.vector)
def __mul__(self, other):
if hasattr(other, 'is_translation'):
return Translation(self.vector + other.vector)
elif hasattr(other, 'is_rotation'):
return RotationTranslation(other.tensor, self.vector)
elif hasattr(other, 'is_rotation_translation'):
return RotationTranslation(other.tensor, other.vector+self.vector)
else:
return self.asLinearTransformation()*other.asLinearTransformation()
def __call__(self, vector):
return self.vector + vector
def displacement(self):
"""
@returns: the displacement vector
"""
return self.vector
def rotation(self):
return Rotation(Geometry.ez, 0.)
def translation(self):
return self
def inverse(self):
return Translation(-self.vector)
def screwMotion(self):
l = self.vector.length()
if l == 0.:
return Geometry.Vector(0.,0.,0.), \
Geometry.Vector(0.,0.,1.), 0., 0.
else:
return Geometry.Vector(0.,0.,0.), self.vector/l, 0., l
#
# Pure rotation
#
class Rotation(RigidBodyTransformation):
"""
Rotational transformation
"""
def __init__(self, *args):
"""
There are two calling patterns:
- Rotation(tensor), where tensor is a L{Scientific.Geometry.Tensor}
of rank 2 containing the rotation matrix.
- Rotation(axis, angle), where axis is a L{Scientific.Geometry.Vector}
and angle a number (the angle in radians).
"""
if len(args) == 1:
self.tensor = args[0]
if not Geometry.isTensor(self.tensor):
self.tensor = Geometry.Tensor(self.tensor)
elif len(args) == 2:
axis, angle = args
axis = axis.normal()
projector = axis.dyadicProduct(axis)
self.tensor = projector - \
N.sin(angle)*Geometry.epsilon*axis + \
N.cos(angle)*(Geometry.delta-projector)
else:
raise TypeError('one or two arguments required')
is_rotation = 1
def asLinearTransformation(self):
return LinearTransformation(self.tensor, Geometry.nullVector)
def __mul__(self, other):
if hasattr(other, 'is_rotation'):
return Rotation(self.tensor.dot(other.tensor))
elif hasattr(other, 'is_translation'):
return RotationTranslation(self.tensor, self.tensor*other.vector)
elif hasattr(other, 'is_rotation_translation'):
return RotationTranslation(self.tensor.dot(other.tensor),
self.tensor*other.vector)
else:
return self.asLinearTransformation()*other.asLinearTransformation()
def __call__(self,other):
if hasattr(other,'is_vector'):
return self.tensor*other
elif hasattr(other, 'is_tensor') and other.rank == 2:
_rinv=self.tensor.inverse()
return _rinv.dot(other.dot(self.tensor))
elif hasattr(other, 'is_tensor') and other.rank == 1:
return self.tensor.dot(other)
else:
raise ValueError('incompatible object')
def axisAndAngle(self):
"""
@returns: the axis (a normalized vector) and angle (in radians).
The angle is in the interval (-pi, pi]
@rtype: (L{Scientific.Geometry.Vector}, C{float})
"""
asym = -self.tensor.asymmetricalPart()
axis = Geometry.Vector(asym[1,2], asym[2,0], asym[0,1])
sine = axis.length()
if abs(sine) > 1.e-10:
axis = axis/sine
projector = axis.dyadicProduct(axis)
cosine = (self.tensor-projector).trace()/(3.-axis*axis)
angle = angleFromSineAndCosine(sine, cosine)
else:
t = 0.5*(self.tensor+Geometry.delta)
i = N.argmax(t.diagonal().array)
axis = (t[i]/N.sqrt(t[i,i])).asVector()
angle = 0.
if t.trace() < 2.:
angle = N.pi
return axis, angle
def threeAngles(self, e1, e2, e3, tolerance=1e-7):
"""
Find three angles a1, a2, a3 such that
Rotation(a1*e1)*Rotation(a2*e2)*Rotation(a3*e3)
is equal to the rotation object. e1, e2, and
e3 are non-zero vectors. There are two solutions, both of which
are computed.
@param e1: a rotation axis
@type e1: L{Scientific.Geometry.Vector}
@param e2: a rotation axis
@type e2: L{Scientific.Geometry.Vector}
@param e3: a rotation axis
@type e3: L{Scientific.Geometry.Vector}
@returns: a list containing two arrays of shape (3,),
each containing the three angles of one solution
@rtype: C{list} of C{N.array}
@raise ValueError: if two consecutive axes are parallel
"""
# Written by Pierre Legrand (pierre.legrand@synchrotron-soleil.fr)
#
# Basically this is a reimplementation of the David
# Thomas's algorithm [1] described by Gerard Bricogne in [2]:
#
# [1] "Modern Equations of Diffractometry. Goniometry." D.J. Thomas
# Acta Cryst. (1990) A46 Page 321-343.
#
# [2] "The ECC Cooperative Programming Workshop on Position-Sensitive
# Detector Software." G. Bricogne,
# Computational aspect of Protein Crystal Data Analysis,
# Proceedings of the Daresbury Study Weekend (23-24/01/1987)
# Page 122-126
e1 = e1.normal()
e2 = e2.normal()
e3 = e3.normal()
# We are searching for the three angles a1, a2, a3
# If 2 consecutive axes are parallel: decomposition is not meaningful
if (e1.cross(e2)).length() < tolerance or \
(e2.cross(e3)).length() < tolerance :
raise ValueError('Consecutive parallel axes. Too many solutions')
w = self(e3)
# Solve the equation : _a.cosx + _b.sinx = _c
_a = e1*e3 - (e1*e2)*(e2*e3)
_b = e1*(e2.cross(e3))
_c = e1*w - (e1*e2)*(e2*e3)
_norm = (_a**2 + _b**2)**0.5
# Checking for possible errors in initial Rot matrix
if _norm == 0:
raise ValueError('FAILURE 1, norm = 0')
if abs(_c/_norm) > 1+tolerance:
raise ValueError('FAILURE 2' +
'malformed rotation Tensor (non orthogonal?) %.8f'
% (_c/_norm))
#if _c/_norm > 1: raise ValueError('Step1: No solution')
_th = angleFromSineAndCosine(_b/_norm, _a/_norm)
_xmth = N.arccos(_c/_norm)
# a2a and a2b are the two possible solutions to the equation.
a2a = mod_angle((_th + _xmth), 2*N.pi)
a2b = mod_angle((_th - _xmth), 2*N.pi)
solutions = []
# for each solution, find the two other angles (a1, a3).
for a2 in (a2a, a2b):
R2 = Rotation(e2, a2)
v = R2(e3)
v1 = v - (v*e1)*e1
w1 = w - (w*e1)*e1
norm = ((v1*v1)*(w1*w1))**0.5
if norm == 0:
# in that case rotation 1 and 3 are about the same axis
# so any solution for rotation 1 is OK
a1 = 0.
else:
cosa1 = (v1*w1)/norm
sina1 = v1*(w1.cross(e1))/norm
a1 = mod_angle(angleFromSineAndCosine(sina1, cosa1),
2*N.pi)
R3 = Rotation(e2, -1*a2)*Rotation(e1, -1*a1)*self
# u = normalized test vector perpendicular to e3
# if e2 and e3 are // we have an exception before.
# if we take u = e1^e3 then it will not work for
# Euler and Kappa axes.
u = (e2.cross(e3)).normal()
cosa3 = u*R3(u)
sina3 = u*(R3(u).cross(e3))
a3 = mod_angle(angleFromSineAndCosine(sina3, cosa3),
2*N.pi)
solutions.append(N.array([a1, a2, a3]))
# Gives the closest solution to 0,0,0 first
if N.add.reduce(solutions[0]**2) > \
N.add.reduce(solutions[1]**2):
solutions = [solutions[1], solutions[0]]
return solutions
def asQuaternion(self):
"""
@returns: a quaternion representing the same rotation
@rtype: L{Scientific.Geometry.Quaternion.Quaternion}
"""
from Quaternion import Quaternion
axis, angle = self.axisAndAngle()
sin_angle_2 = N.sin(0.5*angle)
cos_angle_2 = N.cos(0.5*angle)
return Quaternion(cos_angle_2, sin_angle_2*axis[0],
sin_angle_2*axis[1], sin_angle_2*axis[2])
def rotation(self):
return self
def translation(self):
return Translation(Geometry.Vector(0.,0.,0.))
def inverse(self):
return Rotation(self.tensor.transpose())
def screwMotion(self):
axis, angle = self.axisAndAngle()
return Geometry.Vector(0., 0., 0.), axis, angle, 0.
#
# Combined translation and rotation
#
class RotationTranslation(RigidBodyTransformation):
"""
Combined translational and rotational transformation.
Objects of this class are not created directly, but can be the
result of a composition of rotations and translations.
"""
def __init__(self, tensor, vector):
self.tensor = tensor
self.vector = vector
is_rotation_translation = 1
def asLinearTransformation(self):
return LinearTransformation(self.tensor, self.vector)
def __mul__(self, other):
if hasattr(other, 'is_rotation'):
return RotationTranslation(self.tensor.dot(other.tensor),
self.vector)
elif hasattr(other, 'is_translation'):
return RotationTranslation(self.tensor,
self.tensor*other.vector+self.vector)
elif hasattr(other, 'is_rotation_translation'):
return RotationTranslation(self.tensor.dot(other.tensor),
self.tensor*other.vector+self.vector)
else:
return self.asLinearTransformation()*other.asLinearTransformation()
def __call__(self, vector):
return self.tensor*vector + self.vector
def rotation(self):
return Rotation(self.tensor)
def translation(self):
return Translation(self.vector)
def inverse(self):
return Rotation(self.tensor.transpose())*Translation(-self.vector)
# def screwMotion1(self):
# import Scientific.LA
# axis, angle = self.rotation().axisAndAngle()
# d = self.vector*axis
# x = d*axis-self.vector
# r0 = N.dot(Scientific.LA.generalized_inverse(
# self.tensor.array-N.identity(3)), x.array)
# return Geometry.Vector(r0), axis, angle, d
def screwMotion(self):
axis, angle = self.rotation().axisAndAngle()
d = self.vector*axis
x = d*axis-self.vector
if abs(angle) < 1.e-9:
r0 = Geometry.Vector(0., 0., 0.)
angle = 0.
else:
r0 = -0.5*((N.cos(0.5*angle)/N.sin(0.5*angle))*axis.cross(x)+x)
return r0, axis, angle, d
#
# Scaling
#
class Scaling(Transformation):
"""
Scaling
"""
def __init__(self, scale_factor):
"""
@param scale_factor: the scale factor
@type scale_factor: C{float}
"""
self.scale_factor = scale_factor
is_scaling = 1
def asLinearTransformation(self):
return LinearTransformation(self.scale_factor*Geometry.delta,
Geometry.nullVector)
def __call__(self, vector):
return self.scale_factor*vector
def __mul__(self, other):
if hasattr(other, 'is_scaling'):
return Scaling(self.scale_factor*other.scale_factor)
else:
return self.asLinearTransformation()*other.asLinearTransformation()
def inverse(self):
return Scaling(1./self.scale_factor)
#
# Inversion is scaling by -1
#
class Inversion(Scaling):
def __init__(self):
Scaling.__init__(self, -1.)
#
# Shear
#
class Shear(Transformation):
def __init__(self, *args):
if len(args) == 1:
if Geometry.isTensor(args[0]):
self.tensor = args[0]
else:
self.tensor = Geometry.Tensor(args[0])
assert self.tensor.rank == 2
elif len(args) == 3 and Geometry.isVector(args[0]) \
and Geometry.isVector(args[1]) and Geometry.isVector(args[2]):
self.tensor = Geometry.Tensor([args[0].array, args[1].array,
args[2].array]).transpose()
def asLinearTransformation(self):
return LinearTransformation(self.tensor, Geometry.nullVector)
def __mul__(self, other):
return self.asLinearTransformation()*other
def __call__(self, vector):
return self.tensor*vector
def inverse(self):
return Shear(self.tensor.inverse())
#
# General linear transformation
#
class LinearTransformation(Transformation):
"""
General linear transformation.
Objects of this class are not created directly, but can be the
result of a composition of transformations.
"""
def __init__(self, tensor, vector):
self.tensor = tensor
self.vector = vector
def asLinearTransformation(self):
return self
def __mul__(self, other):
other = other.asLinearTransformation()
return LinearTransformation(self.tensor.dot(other.tensor),
self.tensor*other.vector+self.vector)
def __call__(self, vector):
return self.tensor*vector + self.vector
def inverse(self):
return LinearTransformation(self.tensor.inverse(), -self.vector)
# Utility functions
def angleFromSineAndCosine(y, x):
return atan2(y, x)
def mod_angle(angle, mod):
return (angle + mod/2.) % mod - mod/2
# Test code
if __name__ == '__main__':
t = Translation(Geometry.Vector(1.,-2.,0))
r = Rotation(Geometry.Vector(0.1, -2., 0.5), 1.e-10)
q = r.asQuaternion()
angles = r.threeAngles(Geometry.Vector(1., 0., 0.),
Geometry.Vector(0., 1., 0.),
Geometry.Vector(0., 0., 1.))
c = t*r
print c.screwMotion()
s = Scaling(2.)
all = s*t*r
print all(Geometry.ex)
|