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Use vectorized operations to compute transformations #266

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Oct 14, 2015
Merged

Use vectorized operations to compute transformations #266

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d8c273b
Use vectorized operations to compute transformations
oliverlee Oct 7, 2015
28d0f94
Fix assignment of translation component of transform
oliverlee Oct 14, 2015
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Fix assignment of translation component of transform
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@oliverlee
oliverlee committed Oct 14, 2015
commit 28d0f943f42be6519252c7aef2ed7310e9d1407e
11 changes: 9 additions & 2 deletions pydy/viz/visualization_frame.py
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Expand Up @@ -225,10 +225,17 @@ def generate_transformation_matrix(self, reference_frame, point):
"""
rotation_matrix = self.reference_frame.dcm(reference_frame)
self._transform = Identity(4).as_mutable()
self._transform[0:3, 0:3] = rotation_matrix
self._transform[:3, :3] = rotation_matrix

point_vector = self.origin.pos_from(point)
self._transform[3, :3] = point_vector.to_matrix(reference_frame).T
try:
self._transform[3, :3] = point_vector.to_matrix(reference_frame).T
except AttributeError:
# In earlier versions of sympy, 'Vector' object has no attribute
# 'to_matrix'.
self._transform[3, 0] = point_vector.dot(reference_frame.x)
self._transform[3, 1] = point_vector.dot(reference_frame.y)
self._transform[3, 2] = point_vector.dot(reference_frame.z)
return self._transform

def generate_numeric_transform_function(self, dynamic_variables,
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