diff --git a/myTransform.py b/myTransform.py index 82ef005cffefa7eab732e032bfcc9001fead0c96..fd53d845042236b977eb10ff3ea04206cae03a0c 100644 --- a/myTransform.py +++ b/myTransform.py @@ -1,7 +1,7 @@ #!/usr/bin/env python import transform -from numpy import matrix, sin, cos +from numpy import matrix, sin, cos, degrees, radians class myTransform(transform.transform): ### The transform functions should be overloaded for each application @@ -15,7 +15,7 @@ class myTransform(transform.transform): def fwdTrans(self, m_positions, t_positions): """ """ m_matrix = matrix(m_positions) - th, phi, chi = t_positions + th, phi, chi = [radians(x) for x in t_positions] Rx = matrix([[1, 0, 0],[0, cos(th), sin(th)], [0, -sin(th), cos(th)]]) Ry = matrix([[cos(phi), 0, -sin(phi)], [0, 1, 0], [sin(phi), 0, cos(phi)]]) Rz = matrix([[cos(chi), sin(chi), 0], [-sin(chi), cos(chi), 0], [0, 0, 1]]) @@ -26,7 +26,7 @@ class myTransform(transform.transform): retval = m_matrix * R - print retval + #!print retval return retval.tolist()[0] @@ -34,7 +34,7 @@ class myTransform(transform.transform): def invTrans(self, tm_positions, t_positions): """ """ tm_matrix = matrix(tm_positions) - th, phi, chi = t_positions + th, phi, chi = [radians(x) for x in t_positions] Rx = matrix([[1, 0, 0],[0, cos(th), sin(th)], [0, -sin(th), cos(th)]]) Ry = matrix([[cos(phi), 0, -sin(phi)], [0, 1, 0], [sin(phi), 0, cos(phi)]]) Rz = matrix([[cos(chi), sin(chi), 0], [-sin(chi), cos(chi), 0], [0, 0, 1]]) @@ -43,7 +43,7 @@ class myTransform(transform.transform): retval = tm_matrix * R.I - print retval + #!print retval return retval.tolist()[0]