Method __init__

generative/lsystem/turtle.py:15–29

Initialize the turtle with the given position and rotation. Use a traditional RHS coordinate system with Z pointing up. Transformations are performed using intrinsic Euler angles, so rotations about an axis are relative to the turtle's local reference frame. :param

(self, position: np.ndarray = None, rotation: Rotation = None)

    """

    def __init__(self, position: np.ndarray = None, rotation: Rotation = None):
        """Initialize the turtle with the given position and rotation.

        Use a traditional RHS coordinate system with Z pointing up.
        Transformations are performed using intrinsic Euler angles, so rotations about an axis are
        relative to the turtle's local reference frame.

        :param position: The starting position of the turtle. Defaults to (0, 0, 0).
        :param rotation: The starting rotation of the turtle, applied to the vector (0, 0, 1).
        """
        if rotation is not None and not isinstance(rotation, Rotation):
            raise TypeError("Rotation must be a scipy.spatial.transform.Rotation")

        self._position = np.array(position) if position is not None else np.array([[0, 0, 0]])
        self.rotation = rotation if rotation is not None else Rotation.from_matrix(np.eye(3))

    @property
    def position(self):