pytransform3d.visualizer.Capsule#
- class pytransform3d.visualizer.Capsule(height=1, radius=1, A2B=array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]]), resolution=20, c=None)[source]#
Bases:
Artist
Capsule.
A capsule is the volume covered by a sphere moving along a line segment.
- Parameters:
- heightfloat, optional (default: 1)
Height of the capsule along its z-axis.
- radiusfloat, optional (default: 1)
Radius of the capsule.
- A2Barray-like, shape (4, 4)
Pose of the capsule. The position corresponds to the center of the line segment and the z-axis to the direction of the line segment.
- resolutionint, optional (default: 20)
The resolution of the half spheres. The longitudes will be split into resolution segments (i.e. there are resolution + 1 latitude lines including the north and south pole). The latitudes will be split into 2 * resolution segments (i.e. there are 2 * resolution longitude lines.)
- carray-like, shape (3,), optional (default: None)
Color
- __init__(height=1, radius=1, A2B=array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]]), resolution=20, c=None)[source]#
Methods
__init__
([height, radius, A2B, resolution, c])add_artist
(figure)Add artist to figure.
set_data
(A2B)Update data.
Attributes
Expose geometries.
- set_data(A2B)[source]#
Update data.
- Parameters:
- A2Barray-like, shape (4, 4)
Start of the capsule’s line segment.
- property geometries#
Expose geometries.
- Returns:
- geometrieslist
List of geometries that can be added to the visualizer.
- add_artist(figure)#
Add artist to figure.
- Parameters:
- figureFigure
Figure to which the artist will be added.