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Base: Improve docstrings in RotationPy.xml

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marioalexis
2022-05-28 23:37:14 -03:00
committed by wwmayer
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src/Base/RotationPy.xml
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@@ -16,157 +16,175 @@
<Documentation>
<Author Licence="LGPL" Name="Juergen Riegel" EMail="FreeCAD@juergen-riegel.net" />
<DeveloperDocu>This is the Rotation export class</DeveloperDocu>
<UserDocu>
A Rotation using a quaternion.
The Rotation object can be created by:
-- an empty parameter list
-- a Rotation object
-- a Vector (axis) and a float (angle)
-- two Vectors (rotation from/to vector)
-- three floats (Euler angles) as yaw-pitch-roll in XY'Z'' convention
-- one string and three floats (Euler angles) as euler rotation
of a given type. Call toEulerSequence() for supported sequence types.
-- four floats (Quaternion) where the quaternion is specified as:
q=xi+yj+zk+w, i.e. the last parameter is the real part
-- three vectors that define rotated axes directions + an optional
3-characher string of capital letters 'X', 'Y', 'Z' that sets the
order of importance of the axes (e.g., 'ZXY' means z direction is
followed strictly, x is used but corrected if necessary, y is ignored).
</UserDocu>
<UserDocu>Base.Rotation class.\n
A Rotation using a quaternion.\n
The following constructors are supported:\n
Rotation()
Empty constructor.\n
Rotation(rotation)
Copy constructor.\n
Rotation(Axis, Radian)
Rotation(Axis, Degree)
Define from an axis and an angle (in radians or degrees according to the keyword).
Axis : Base.Vector
Radian : float
Degree : float\n
Rotation(vector_start, vector_end)
Define from two vectors (rotation from/to vector).
vector_start : Base.Vector
vector_end : Base.Vector\n
Rotation(angle1, angle2, angle3)
Define from three floats (Euler angles) as yaw-pitch-roll in XY'Z'' convention.
angle1 : float
angle2 : float
angle3 : float\n
Rotation(seq, angle1, angle2, angle3)
Define from one string and three floats (Euler angles) as Euler rotation
of a given type. Call toEulerSequence() for supported sequence types.
seq : str
angle1 : float
angle2 : float
angle3 : float\n
Rotation(x, y, z, w)
Define from four floats (quaternion) where the quaternion is specified as:
q = xi+yj+zk+w, i.e. the last parameter is the real part.
x : float
y : float
z : float
w : float\n
Rotation(dir1, dir2, dir3, seq)
Define from three vectors that define rotated axes directions plus an optional
3-characher string of capital letters 'X', 'Y', 'Z' that sets the order of
importance of the axes (e.g., 'ZXY' means z direction is followed strictly,
x is used but corrected if necessary, y is ignored).
dir1 : Base.Vector
dir2 : Base.Vector
dir3 : Base.Vector
seq : str\n
Rotation(matrix)
Define from a matrix rotation in the 4D representation.
matrix : Base.Matrix\n
Rotation(*coef)
Define from 16 or 9 elements which represent the rotation in the 4D matrix
representation or in the 3D matrix representation, respectively.
coef : sequence of float</UserDocu>
</Documentation>
<Methode Name="invert">
<Documentation>
<UserDocu>
invert() -> None
Sets the rotation to its inverse
</UserDocu>
<UserDocu>invert() -> None\n
Sets the rotation to its inverse.</UserDocu>
</Documentation>
</Methode>
<Methode Name="inverted">
<Documentation>
<UserDocu>
inverted() -> Rotation
Returns the inverse of the rotation
</UserDocu>
<UserDocu>inverted() -> Base.Rotation\n
Returns the inverse of the rotation.</UserDocu>
</Documentation>
</Methode>
<Methode Name="isSame">
<Documentation>
<UserDocu>
isSame(Rotation, [tolerance=0])
Checks if the two quaternions perform the same rotation.
Optionally, a tolerance value greater than zero can be passed.
</UserDocu>
<UserDocu>isSame(rotation, tol=0) -> bool\n
Checks if `rotation` perform the same transformation as this rotation.\n
rotation : Base.Rotation
tol : float\n Tolerance used to compare both rotations.
If tol is negative or zero, no tolerance is used.</UserDocu>
</Documentation>
</Methode>
<Methode Name="multiply" Const="true">
<Documentation>
<UserDocu>
multiply(Rotation)
Multiply this quaternion with another quaternion
</UserDocu>
<UserDocu>multiply(rotation) -> Base.Rotation\n
Right multiply this rotation with another rotation.\n
rotation : Base.Rotation\n Rotation by which to multiply this rotation.</UserDocu>
</Documentation>
</Methode>
<Methode Name="multVec" Const="true">
<Documentation>
<UserDocu>
multVec(Vector) -> Vector
Compute the transformed vector using the rotation
</UserDocu>
<UserDocu>multVec(vector) -> Base.Vector\n
Compute the transformed vector using the rotation.\n
vector : Base.Vector\n Vector to be transformed.</UserDocu>
</Documentation>
</Methode>
<Methode Name="slerp" Const="true">
<Documentation>
<UserDocu>
slerp(Rotation, Float) -> Rotation
Spherical linear interpolation of this and a given rotation. The float must be in the range of 0 and 1
</UserDocu>
<UserDocu>slerp(rotation2, t) -> Base.Rotation\n
Spherical Linear Interpolation (SLERP) of this rotation and `rotation2`.\n
t : float\n Parameter of the path. t=0 returns this rotation, t=1 returns `rotation2`.</UserDocu>
</Documentation>
</Methode>
<Methode Name="setYawPitchRoll">
<Documentation>
<UserDocu>
setYawPitchRoll(angle1, angle2, angle3)
Set the Euler angles of this rotation
as yaw-pitch-roll in XY'Z'' convention.
NOTE: The angles are in degree
</UserDocu>
<UserDocu>setYawPitchRoll(angle1, angle2, angle3) -> None\n
Set the Euler angles of this rotation as yaw-pitch-roll in XY'Z'' convention.\n
angle1 : float\n Angle around yaw axis in degrees.
angle2 : float\n Angle around pitch axis in degrees.
angle3 : float\n Angle around roll axis in degrees.</UserDocu>
</Documentation>
</Methode>
<Methode Name="getYawPitchRoll" Const="true">
<Documentation>
<UserDocu>
getYawPitchRoll() -> list
Get the Euler angles of this rotation
as yaw-pitch-roll in XY'Z'' convention
NOTE: The angles are in degree
</UserDocu>
<UserDocu>getYawPitchRoll() -> tuple\n
Get the Euler angles of this rotation as yaw-pitch-roll in XY'Z'' convention.
The angles are given in degrees.</UserDocu>
</Documentation>
</Methode>
<Methode Name="setEulerAngles">
<Documentation>
<UserDocu>
setEulerAngles(seq, angle1, angle2, angle3)
Set the Euler angles in a given sequence for this rotation.
'seq' is the Euler sequence name. You get all possible values with toEulerAngles()
</UserDocu>
<UserDocu>setEulerAngles(seq, angle1, angle2, angle3) -> None\n
Set the Euler angles in a given sequence for this rotation.
The angles must be given in degrees.\n
seq : str\n Euler sequence name. All possible values given by toEulerAngles().
angle1 : float
angle2 : float
angle3 : float </UserDocu>
</Documentation>
</Methode>
<Methode Name="toEulerAngles" Const="true">
<Documentation>
<UserDocu>
toEulerAngles(seq='') -> list
Get the Euler angles in a given sequence for this rotation.
Call this function without arguments to output all possible values of 'seq'.
</UserDocu>
<UserDocu>toEulerAngles(seq) -> list\n
Get the Euler angles in a given sequence for this rotation.\n
seq : str\n Euler sequnce name. If not given, the function returns
all possible values of `seq`. Optional.</UserDocu>
</Documentation>
</Methode>
<Methode Name="toMatrix" Const="true">
<Documentation>
<UserDocu>
toMatrix()
convert the rotation to a matrix representation
</UserDocu>
<UserDocu>toMatrix() -> Base.Matrix\n
Convert the rotation to a 4D matrix representation.</UserDocu>
</Documentation>
</Methode>
<Methode Name="isNull" Const="true">
<Documentation>
<UserDocu>
isNull() -> Bool
returns True if all Q values are zero
</UserDocu>
<UserDocu>isNull() -> bool\n
Returns True if all values in the quaternion representation are zero.</UserDocu>
</Documentation>
</Methode>
<Methode Name="isIdentity" Const="true">
<Documentation>
<UserDocu>
isIdentity() -> Bool
returns True if the rotation equals the unity matrix
</UserDocu>
<UserDocu>isIdentity() -> bool\n
Returns True if the rotation equals the 4D identity matrix.</UserDocu>
</Documentation>
</Methode>
<Attribute Name="Q" ReadOnly="false">
<Documentation>
<UserDocu>The rotation elements (as quaternion)</UserDocu>
<UserDocu>The rotation elements (as quaternion).</UserDocu>
</Documentation>
<Parameter Name="Q" Type="Tuple" />
</Attribute>
<Attribute Name="Axis" ReadOnly="false">
<Documentation>
<UserDocu>The rotation axis of the quaternion</UserDocu>
<UserDocu>The rotation axis of the quaternion.</UserDocu>
</Documentation>
<Parameter Name="Axis" Type="Object" />
</Attribute>
<Attribute Name="RawAxis" ReadOnly="true">
<Documentation>
<UserDocu>The rotation axis without normalization</UserDocu>
<UserDocu>The rotation axis without normalization.</UserDocu>
</Documentation>
<Parameter Name="RawAxis" Type="Object" />
</Attribute>
<Attribute Name="Angle" ReadOnly="false">
<Documentation>
<UserDocu>The rotation angle of the quaternion</UserDocu>
<UserDocu>The rotation angle of the quaternion.</UserDocu>
</Documentation>
<Parameter Name="Angle" Type="Float" />
</Attribute>