From e3f91d253f5793150bd0b655e05285c1bf614716 Mon Sep 17 00:00:00 2001 From: "David Torres Ocana (TME)" Date: Fri, 5 May 2023 08:51:51 +0200 Subject: [PATCH] docs: add missing docs --- dgp/utils/pose.py | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/dgp/utils/pose.py b/dgp/utils/pose.py index d44f7f84..ccc5cc11 100644 --- a/dgp/utils/pose.py +++ b/dgp/utils/pose.py @@ -88,7 +88,9 @@ def inverse(self, new_reference_coordinate_system=""): Returns ---------- result: Pose - Inverted pose + new_reference_coordinate_system pose + reference_coordinate_system: str + The reference coordinate system the inverse Pose (Transform) is expressed with respect to. I.e. the name of the current Pose """ qinv = self.quat.inverse return self.__class__(qinv, qinv.rotate(-self.tvec), @@ -149,6 +151,8 @@ def from_matrix(cls, transformation_matrix, reference_coordinate_system=""): ---------- transformation_matrix: np.ndarray 4x4 containing rotation/translation + reference_coordinate_system: str + Reference coordinate system this Pose (Transform) is expressed with respect to Returns ------- @@ -168,6 +172,8 @@ def from_rotation_translation(cls, rotation_matrix, tvec, reference_coordinate_s 3x3 rotation matrix tvec : np.ndarray length-3 translation vector + reference_coordinate_system: str + Reference coordinate system this Pose (Transform) is expressed with respect to """ return cls(wxyz=Quaternion(matrix=rotation_matrix), tvec=np.float64(tvec), reference_coordinate_system=reference_coordinate_system)