MAGIKS  1.1
Manipulator General Inverse Kinematic Solver
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Ellipsoid Class Reference
Inheritance diagram for Ellipsoid:

Public Member Functions

def __init__
 Class Constructor Creates an ellipsoid with given charachteristic matrix A and center. More...
 
def volume
 
def min_dist
 
def max_dist
 
def possess
 

Public Attributes

 M
 
 center
 
 a
 
 b
 
 c
 
 R
 

Detailed Description

Definition at line 835 of file geometry.py.

Constructor & Destructor Documentation

def __init__ (   self,
  M = np.eye(3),
  center = Point_3D(pos = np.zeros(3)) 
)

Class Constructor Creates an ellipsoid with given charachteristic matrix A and center.

The equation of the ellipsoid is given as: $$ **(x - c)**^T M **(x - c)** $$

Parameters
MA numpy square matrix representing the charachteristic matrix of the ellipsoid.
centerAn instance of class Point_3D() specifying the ellipsoid center
For example to have a non-rotated ellipsoid centered at the origin with equation:
x^2/a^2 + y^2/b^2 + z^2/c^2 = 1
Arguments M and center must be selected as:
     [ a^(-2)   0      0     ]
M =  [   0    b^(-2)   0     ]
     [   0      0    c^(-2)  ]

center = (0, 0, 0)    

Definition at line 843 of file geometry.py.

Member Function Documentation

def max_dist (   self,
  point 
)

Definition at line 881 of file geometry.py.

def min_dist (   self,
  point 
)

Definition at line 872 of file geometry.py.

def possess (   self,
  point 
)

Definition at line 890 of file geometry.py.

def volume (   self)

Definition at line 869 of file geometry.py.

Member Data Documentation

a

Definition at line 864 of file geometry.py.

b

Definition at line 865 of file geometry.py.

c

Definition at line 866 of file geometry.py.

center

Definition at line 863 of file geometry.py.

M

Definition at line 862 of file geometry.py.

R

Definition at line 867 of file geometry.py.


The documentation for this class was generated from the following file: