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Laurens Valk
4e9886dba8
This module will contain mathematical tools to deal with geometry and motion of robots. This includes a Matrix type for common matrix operations.
48 lines
1.2 KiB
Python
48 lines
1.2 KiB
Python
# SPDX-License-Identifier: MIT
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# Copyright (c) 2018-2020 The Pybricks Authors
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"""Core linear algebra functionality for orientation sensors and robotics."""
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class Matrix:
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"""Mathematical representation of a matrix. It supports common operations
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such as matrix addition (``+``), subtraction (``-``),
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and multiplication (``*``). A :class:`.Matrix` object is immutable."""
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def __init__(self, rows):
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"""
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Arguments:
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rows (list): List of rows. Each row is itself a list of numbers.
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"""
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@property
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def T(self):
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"""Returns a new :class:`.Matrix` that is the transpose of the
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original."""
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pass
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@property
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def shape(self):
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"""Returns a tuple (``m``, ``n``),
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where ``m`` is the number of rows and ``n`` is the number of columns.
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"""
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pass
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def vector(x, y, z=None):
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"""Convenience function to create a :class:`.Matrix` with the
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shape (``3``, ``1``) or (``2``, ``1``).
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Arguments:
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x (float): x-coordinate of the vector.
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y (float): y-coordinate of the vector.
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z (float): z-coordinate of the vector (optional).
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Returns:
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Matrix: A matrix with the shape of a column vector.
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"""
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pass
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