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transformations.py
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transformations.py
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"""Module to store the possible spacial transformation definitions."""
from numpy import array
from numpy import byte
TRANSFORMATIONS = {
0: array( # Reference orientation (Identity Matrix)
[
[1, 0, 0],
[0, 1, 0],
[0, 0, 1],
],
dtype=byte,
),
# --- Y ---
1: array( # Rotate 90' on Y axis
[
[0, 0, 1],
[0, 1, 0],
[-1, 0, 0],
],
dtype=byte,
),
2: array( # Rotate 180' on Y axis
[
[-1, 0, 0],
[0, 1, 0],
[0, 0, -1],
],
dtype=byte,
),
3: array( # Rotate 270' on Y axis
[
[0, 0, -1],
[0, 1, 0],
[1, 0, 0],
],
dtype=byte,
),
# --- Attitude 90' ---
4: array([[0, -1, 0], [1, 0, 0], [0, 0, 1]], dtype=byte), # attitude 90'
5: array([[0, 0, 1], [1, 0, 0], [0, 1, 0]], dtype=byte), # attitude 90' w/ Y 90'
6: array( # attitude 90' w/ Y 180'
[
[0, 1, 0],
[1, 0, 0],
[0, 0, -1],
],
dtype=byte,
),
7: array( # attitude 90' w/ Y 270'
[
[0, 0, -1],
[1, 0, 0],
[0, -1, 0],
],
dtype=byte,
),
# --- Attitude 270' ---
8: array( # attitude 270'
[
[0, 1, 0],
[-1, 0, 0],
[0, 0, 1],
],
dtype=byte,
),
9: array( # attitude 270' w/ Y 90'
[
[0, 0, 1],
[-1, 0, 0],
[0, -1, 0],
],
dtype=byte,
),
10: array( # attitude 270' w/ Y 180'
[
[0, -1, 0],
[-1, 0, 0],
[0, 0, -1],
],
dtype=byte,
),
11: array( # attitude 270' w/ Y 260'
[[0, 0, -1], [-1, 0, 0], [0, 1, 0]], dtype=byte
),
# -- bank 90' --
12: array( # bank 90'
[
[1, 0, 0],
[0, 0, -1],
[0, 1, 0],
],
dtype=byte,
),
13: array([[0, 1, 0], [0, 0, -1], [-1, 0, 0]], dtype=byte), # bank 90' w/ Y 90'
14: array( # bank 90' w/ Y 180'
[
[-1, 0, 0],
[0, 0, -1],
[0, -1, 0],
],
dtype=byte,
),
15: array( # bank 90' w/ Y 270'
[
[0, -1, 0],
[0, 0, -1],
[1, 0, 0],
],
dtype=byte,
),
# -- Bank 180' --
16: array( # 180' bank
[
[1, 0, 0],
[0, -1, 0],
[0, 0, -1],
],
dtype=byte,
),
17: array( # 180' Bank with Y 90'
[
[0, 0, -1],
[0, -1, 0],
[-1, 0, 0],
],
dtype=byte,
),
18: array( # 180' bank with Y 180'
[
[-1, 0, 0],
[0, -1, 0],
[0, 0, 1],
],
dtype=byte,
),
19: array( # 180' bank with Y 270'
[
[0, 0, 1],
[0, -1, 0],
[1, 0, 0],
],
dtype=byte,
),
# bank 270'
20: array( # bank 270'
[
[1, 0, 0],
[0, 0, 1],
[0, -1, 0],
],
dtype=byte,
),
21: array( # bank 270' w/ Y 90'
[
[0, -1, 0],
[0, 0, 1],
[-1, 0, 0],
],
dtype=byte,
),
22: array([[-1, 0, 0], [0, 0, 1], [0, 1, 0]]), # bank 270' w/ Y 180'
23: array( # bank 270' w/ Y 270'
[
[0, 1, 0],
[0, 0, 1],
[1, 0, 0],
],
dtype=byte,
),
}