/transforms.py

# Copyright (c) 2010 Galen Clark Haynes
#               2010 Dexteris Robotics, LLC
# All rights reserved.
# 
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
# 
#     * Redistributions of source code must retain the above copyright
#       notice, this list of conditions and the following disclaimer.
#     * Redistributions in binary form must reproduce the above copyright
#       notice, this list of conditions and the following disclaimer in the
#       documentation and/or other materials provided with the distribution.
#     * Neither the name of Dexteris Robotics, LLC nor the names of its
#       contributors may be used to endorse or promote products derived from
#       this software without specific prior written permission.
# 
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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from forma.common import Forma

class Transformation(Forma):
    def __init__(self,**kwargs):
        import numpy
        self.transmat = numpy.eye(4)
        super(type(self),self).__init__(kwargs)

class Translation(Forma):
    def __init__(self,**kwargs):
        self.x = 0.0
        self.y = 0.0
        self.z = 0.0
        super(type(self),self).__init__(kwargs)
    
class Rotation(Forma):
    def __init__(self,**kwargs):
        import numpy
        self.rotmat = numpy.eye(3)
        self.x = 0.0
        self.y = 0.0
        self.z = 0.0
        super(type(self),self).__init__(kwargs)