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mindsponge.common.invert_rigids

mindsponge.common.invert_rigids(rigids)[source]

Computes group inverse of rigid transformations. Change rigid from local coordinate system to global coordinate system.

Use invert_rots to calculate the invert rotations of rigid. Then use rots_mul_vecs to rotate the translations of rigid. The opposite of the result is the translations of invert rigid.

\begin{array}{r} \begin{matrix} i n v_r o t s = r_{r}^{T} = (r_{0}, r_{3}, r_{6}, r_{1}, r_{4}, r_{7}, r_{2}, r_{5}, r_{8}) \\ i n v_t r a n s = - r_{r}^{T} \cdot r_{t}^{T} = (- (r_{0} \times t_{0} + r_{3} \times t_{0} + r_{6} \times t_{0}), - (r_{1} \times t_{1} + r_{4} \times t_{1} + r_{7} \times t_{1}), - (r_{2} \times t_{2} + r_{5} \times t_{2} + r_{8} \times t_{2})) \end{matrix} \end{array}

Parameters

rigids (tuple) – rigids, including the rots and trans changing rigids from global coordinate system to local coordinate system.

Returns

tuple(rots, trans), group inverse of rigid transformations, length is 2. Include rots: $(x x, x y, x z, y x, y y, y z, z x, z y, z z)$ and trans $(x, y, z)$ . Data type is constant or Tensor with same shape.

Supported Platforms:: Ascend GPU

Examples

>>> import mindsponge
>>> a = ((1, 2, 3, 4, 5, 6, 7, 8, 9), (3, 4, 5))
>>> inv_a = mindsponge.common.invert_rigids(a)
>>> print(inv_a)
((1, 4, 7, 2, 5, 8, 3, 6, 9), (-54.0, -66.0, -78.0))