openfold.utils.geometry.rigid_matrix_vector¶

Rigid3Array Transformations represented by a Matrix and a Vector.

Classes

Rigid3Array(rotation, translation)

Rigid Transformation, i.e. element of special euclidean group.

class Rigid3Array(rotation, translation)¶

Rigid Transformation, i.e. element of special euclidean group.

Parameters:

rotation (Rot3Array)
translation (Vec3Array)

apply(point)¶

Parameters:: point (Tensor)
Return type:: Tensor

apply_inverse_to_point(point)¶

Apply inverse Rigid3Array transform to point.

Parameters:: point (Vec3Array)
Return type:: Vec3Array

apply_to_point(point)¶

Apply Rigid3Array transform to point.

Parameters:: point (Vec3Array)
Return type:: Vec3Array

classmethod cat(rigids, dim)¶

Parameters:

rigids (List[Rigid3Array])
dim (int)

Return type:

Rigid3Array

compose(other_rigid)¶

compose_rotation(other_rotation)¶

cuda()¶

Return type:: Rigid3Array

classmethod from_array(array)¶

classmethod from_array4x4(array)¶

Construct Rigid3Array from homogeneous 4x4 array.

Parameters:: array (tensor)
Return type:: Rigid3Array

classmethod from_tensor_4x4(array)¶

classmethod identity(shape, device)¶

Return identity Rigid3Array of given shape.

Return type:: Rigid3Array

inverse()¶

Return Rigid3Array corresponding to inverse transform.

Return type:: Rigid3Array

invert_apply(point)¶

Parameters:: point (Tensor)
Return type:: Tensor

map_tensor_fn(fn)¶

Return type:: Rigid3Array

reshape(new_shape)¶

Return type:: Rigid3Array

scale_translation(factor)¶

Scale translation in Rigid3Array by ‘factor’.

Parameters:: factor (float | Tensor)
Return type:: Rigid3Array

stop_rot_gradient()¶

Return type:: Rigid3Array

to_tensor()¶

Return type:: Tensor

to_tensor_4x4()¶

Return type:: Tensor

unsqueeze(dim)¶

Parameters:: dim (int)

property device: device¶

property dtype: dtype¶

rotation: Rot3Array¶

property shape: Size¶

translation: Vec3Array¶