pydistsim.utils.localization.aoastitcher.AoAStitcher

class AoAStitcher(*args, **kwargs)

Bases: BaseStitcher

Base class implementing subcluster stitching methods based on degrees of freedom given by localization using angle of arrival measurements i.e. translation, rotation/reflection and scaling.

Reliable stitch with R, s and t that are not None is based on two or more common nodes between them.

If rotation matrix includes reflection it is not reliable so return Nones.

Legacy: by default returns AoAStitcherHorn instance.

Methods

__init__
align	Align (modify) src w.r.t.
intrastitch
stitch	Stitch src cluster to dst cluster based on selector and its criteria.
transform	Transform node position.

static __new__(cls, *args, **kwargs)

Legacy: by default returns AoAStitcherHorn instance.

_get_rotation_matrix_2_common_nodes(commonNodes, dstSubPos, srcSubPos)

Calculates rotation matrix based only on two common nodes

Warning: should not be used when local systems could be reflected i.e. when they are formed by distance measurements.