Transformation¶

class tri3d.geometry.Transformation[source]¶

Base class for geometric transformations.

A transformation can can host a single or a batch of transformations as indicated by the the single attribute. Batched transformation support len and indexing.

Transformations can be chained together with the matrix multiplication (@) operator.

abstract property single: bool¶: Whether this is a single transformation or a batch.

__matmul__(other)[source]¶

Compose transformations together.

The rightmost operation is applied first.

Parameters:: other (Transformation)
Return type:: Transformation

abstractmethod apply(x)[source]¶

Apply transformation to given point or array of points.

The broadcasting rules between transformations and their inputs are as follows:

transform	input	output	brodcast
`[]`	`[3]`	`[3]`	single mapping
`[]`	`[n,3]`	`[n,3]`	broadcast transform
`[n]`	`[3]`	`[n,3]`	broadcst input
`[n]`	`[n]`	`[n,3]`	one-to-one mapping

Return type:: ndarray

abstractmethod inv()[source]¶

Return inverse transformation.

Return type:: Self