FreeCADView Issue Details
| ID | Project | Category | View Status | Date Submitted | Last Update |
|---|---|---|---|---|---|
| 0000623 | FreeCAD | Feature | public | 2012-03-06 05:44 | 2012-03-12 09:15 |
| Reporter | shoogen | Assigned To | wmayer | ||
| Priority | normal | Severity | feature | Reproducibility | always |
| Status | closed | Resolution | fixed | ||
| Product Version | 0.12 | ||||
| Fixed in Version | 0.13 | ||||
| Summary | 0000623: Matrix and Vector API extension | ||||
| Description | 1. A Matrix should be exposed to python via a subscriptable or offer an interator. possible Solution: implement Py::List MatrixPy::getA(void) const; void MatrixPy::setA(Py::List /*arg*/); 2. Expose transpose function(void Matrix4D::transpose (void)) to python. 3. Offer a function for the determinant of the 3x3 submatrix (returns double) 4. Offer a function to check for an ortonormal 3x3 submatrix M(3x3)*Transpose(M(3x3)) == UnityMat (returns bool) 5. Overload the python operators (==) and (!=) for Matrix and Vector (compare elementwise) | ||||
| Tags | No tags attached. | ||||
| FreeCAD Information | |||||
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Name of function 4 has to be orthogonal. 6. Add a function 'isSpecialOrthogonal' meaning: isOrthogonal && det(M3x3)==1 |
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something for our math wiz.. |
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I've implemented objectives 3,4 and 6 in python. http://forum.freecadweb.org/viewtopic.php?f=3&t=2324&p=17201#p17201 To me it would be fine just get (1)Matrix.A and (5)(Matrix == Matrix) fixed and then close the ticket. |
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I think there is a small bug, so small that I didn't want to open a mantis for this: m = FreeCAD.Matrix(); m.rotateZ(1) --> works m = FreeCAD.Matrix().rotateZ(1) --> doesn't work, (m is None) ------------ Self-compiled FreeCAD 0.13, Libs: 0.13R0697 (Git) |
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@galou: it isn't a bug in the API. It's a bug in the docs. rotateZ() works in place and returns None. So you lose the reference when doing m=m.rotateZ(1) This way you will it least notice that it works in place. |
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@shoogen: you're right, actually, if I hadn't been so lazy, I would have written a feature request, so that Matrix.rotateZ and similar return self. |
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A couple of new methods have been added: * transpose -- transposes this matrix * transposed -- transposes a copy of the matrix * isOrthogonal -- if the matrix is orthogonal it returns the multiple of the identity, otherwise 0 *submatrix -- accepts a dimenstion (int in range[1,4]) and returns the submatrix. This returns again a 4x4 matrix but set the values on the diagonal to 1 and the rest to 0 * operator == and != * implement the A attribute access Example: To see if a matrix describes a rotation you can test this with: m = ... abs(m.submatrix(3).isOrthognal()-1.0) < epsilon |
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Done in git 44147e71ab7076ef9483e5a3ffea402fe903fd68 |
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The example is wrong: Not taking the determinant into consideration, breaks this check for matrices including mirroring. >>> m=FreeCAD.Matrix(-1) #Mirror x-axis >>> abs(m.submatrix(3).isOrthogonal()-1.0) < epsilon True #wrong >>> abs(m.submatrix(3).isOrthogonal()-1.0) < epsilon and abs(m.submatrix(3).determinant()-1.0) < epsilon False |
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OK, you're right! |
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#m=FreeCAD.Matrix(*[float.fromhex(e) for e in ['1','0','0','0','0', '0x1.6a09edbf8b9bbp-1', '-0x1.6a09edbf8b9bbp-1', '0', '0', '0x1.6a09edbf8b9bbp-1', '0x1.6a09edbf8b9bbp-1']]) #recreate IEEE 754 double m=FreeCAD.Matrix(*[float(s) for s in ['1','0','0','0','0','0.707107','-0.707107','0','0','0.707107','0.707107','0','0','0','0','1']]) #original parser input >>> m.multiply(m.transposed()).A [1.0, 0.0, 0.0, 0.0, 0.0, 1.0000006188980002, 0.0, 0.0, 0.0, 0.0, 1.0000006188980002, 0.0, 0.0, 0.0, 0.0, 1.0] >>> m.determinant() 1.0000006188980002 >>> m.isOrthogonal() #there has to the a precsion/epsilon argument for the (trp[i][j] != 0.0) and (trp[i][j] != mult) comparrsions!!!! 0.0 |
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Fixed in git 8a57a948d36a1f0714d9640c7798688832e625f5. isOrthogonal() accepts an optional tolerance value. By default this is 1.0e-6 |
| Date Modified | Username | Field | Change |
|---|---|---|---|
| 2012-03-06 05:44 | shoogen | New Issue | |
| 2012-03-06 05:56 | shoogen | Note Added: 0001713 | |
| 2012-03-06 06:08 |
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Note Added: 0001714 | |
| 2012-03-06 06:09 |
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Status | new => assigned |
| 2012-03-06 06:09 |
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Assigned To | => wmayer |
| 2012-03-07 05:53 | shoogen | Note Added: 0001717 | |
| 2012-03-07 21:32 | galou_breizh | Note Added: 0001721 | |
| 2012-03-08 05:36 | shoogen | Note Added: 0001723 | |
| 2012-03-08 09:39 | shoogen | Note Edited: 0001723 | |
| 2012-03-09 07:50 | galou_breizh | Note Added: 0001733 | |
| 2012-03-11 14:21 | wmayer | Note Added: 0001743 | |
| 2012-03-11 14:23 | wmayer | Note Added: 0001744 | |
| 2012-03-11 14:23 | wmayer | Status | assigned => closed |
| 2012-03-11 14:23 | wmayer | Resolution | open => fixed |
| 2012-03-11 14:23 | wmayer | Fixed in Version | => 0.13 |
| 2012-03-11 18:46 | shoogen | Note Added: 0001745 | |
| 2012-03-11 18:46 | shoogen | Status | closed => feedback |
| 2012-03-11 18:46 | shoogen | Resolution | fixed => reopened |
| 2012-03-11 18:49 | shoogen | Note Edited: 0001745 | |
| 2012-03-12 04:59 | shoogen | Note Edited: 0001745 | |
| 2012-03-12 04:59 | shoogen | Note Edited: 0001745 | |
| 2012-03-12 05:00 | shoogen | Note Edited: 0001745 | |
| 2012-03-12 07:10 | wmayer | Note Added: 0001748 | |
| 2012-03-12 07:12 | wmayer | Status | feedback => closed |
| 2012-03-12 07:12 | wmayer | Resolution | reopened => fixed |
| 2012-03-12 07:24 | shoogen | Note Added: 0001749 | |
| 2012-03-12 07:24 | shoogen | Status | closed => feedback |
| 2012-03-12 07:24 | shoogen | Resolution | fixed => reopened |
| 2012-03-12 07:27 | shoogen | Note Edited: 0001749 | |
| 2012-03-12 07:29 | shoogen | Note Edited: 0001749 | |
| 2012-03-12 07:34 | shoogen | Note Edited: 0001749 | |
| 2012-03-12 07:51 | shoogen | Note Edited: 0001749 | |
| 2012-03-12 09:15 | wmayer | Note Added: 0001750 | |
| 2012-03-12 09:15 | wmayer | Status | feedback => closed |
| 2012-03-12 09:15 | wmayer | Resolution | reopened => fixed |
