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More versatile irot3 constructor. 

Former-commit-id: 15acc7db9cc7d94de98564cd53235eeda33775ad
This commit is contained in:
Marek Nečada 2019-02-25 12:13:42 +02:00
parent 94839960b9
commit fe3f8e8c88
1 changed files with 28 additions and 9 deletions
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29
qpms/qpms_c.pyx
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@ -763,18 +763,37 @@ cdef class irot3:
'''
Wrapper over the C type qpms_irot3_t.
'''
cdef qpms_irot3_t qd
cdef readonly qpms_irot3_t qd
def __cinit__(self, cquat q, short det):
def __cinit__(self, *args):
'''
TODO doc
'''
# TODO implement a constructor with
# - no arguments (returns identity)
# - irot3 as argument (makes a copy)
# - cquat as argument (returns a corresponding proper rotation)
# - tuple as argument ...?
if (len(args) == 0): # no args, return identity
self.qd.rot.a = 1
self.qd.rot.b = 0
self.qd.det = 1
elif (len(args) == 2 and isinstance(args[0], cquat) and isinstance(args[1], (int, float))):
# The original __cinit__(self, cquat q, short det) constructor
q = args[0]
det = args[1]
if (det != 1 and det != -1):
raise ValueError("Improper rotation determinant has to be 1 or -1")
self.qd.rot = q.normalise().q
self.qd.det = det
elif (len(args) == 1 and isinstance(args[0], irot3)):
# Copy
self.qd = args[0].qd
elif (len(args) == 1 and isinstance(args[0], cquat)):
# proper rotation from a quaternion
q = args[0]
det = 1
self.qd.rot = q.normalise().q
self.qd.det = det
else:
raise ValueError('Unsupported constructor arguments')
def copy(self):
res = irot3(cquat(1,0,0,0),1)