SuperQuadrics Module

class gpdmink.SuperQuadrics.SuperQuadrics(a, eps, quat, tc, num=None)

Bases: GeometryModel

get_gradient_from_cartesian(x)

Convert cartesian points to gradient vectors.

Parameters:

x (numpy.ndarray) – Cartesian points

Returns:

Gradient vectors

Return type:

numpy.ndarray

get_gradient_from_direction(v)

Convert direction vectors to gradient vectors.

Parameters:

v (numpy.ndarray) – Direction vectors

Returns:

Gradient vectors

Return type:

numpy.ndarray

get_gradient_from_hypersphere(u)

Convert hypersphere parameters to gradient vectors.

Parameters:

u (numpy.ndarray) – Hypersphere parameters

Returns:

Gradient vectors

Return type:

numpy.ndarray

get_gradient_from_spherical(theta)

Convert spherical coordinates to gradient vectors.

Parameters:

theta (numpy.ndarray) – Spherical angles (eta, omega)

Returns:

Gradient vectors

Return type:

numpy.ndarray

get_hypersphere_from_gradient(m)

Convert gradient vectors to hypersphere parameters.

Parameters:

m (numpy.ndarray) – Gradient vectors

Returns:

Hypersphere parameters

Return type:

numpy.ndarray

get_implicit_function_canonical(x)

Compute implicit function value in canonical frame.

Parameters:

x (numpy.ndarray) – Point in canonical frame

Returns:

Implicit function value

Return type:

float

get_point_from_gradient(m)

Convert gradient vectors to surface points.

Parameters:

m (numpy.ndarray) – Gradient vectors

Returns:

Surface points in canonical frame

Return type:

numpy.ndarray

get_point_from_normal(n)

Convert normal vectors to surface points.

Parameters:

n (numpy.ndarray) – Normal vectors

Returns:

Surface points in canonical frame

Return type:

numpy.ndarray

get_point_from_spherical(theta)

Convert spherical coordinates to surface points.

Parameters:

theta (numpy.ndarray) – Spherical angles (eta, omega)

Returns:

Surface points in canonical frame

Return type:

numpy.ndarray

get_surf_gradients_canonical()

Get surface gradients mesh in canonical frame.

Returns:

Gradient mesh coordinates (m_x, m_y, m_z)

Return type:

tuple(numpy.ndarray, numpy.ndarray, numpy.ndarray)

get_surf_points_canonical()

Get surface mesh points in canonical frame.

Returns:

Mesh coordinates (xx, yy, zz)

Return type:

tuple(numpy.ndarray, numpy.ndarray, numpy.ndarray)

get_volume()

Compute volume of the superquadric.

Returns:

Volume value

Return type:

float