parameters: (self,T)
docstring: Restores from a matrix retrieved using matrix()
docstring_summary: Restores from a matrix retrieved using matrix()
docstring_tokens: Restores from a matrix retrieved using matrix ()
function: def set_matrix(self,T):
          """Restores from a matrix retrieved using matrix()"""
          R,t = T
          #self.rot fulfills constraint R = Rz*Rx*Ry*ori
          o = orientation_matrix(*self.ori)
          R2 = so3.mul(R,so3.inv(o))
          #      [czcy-szsxsy   -szcx  czsy+szsxcy ]
          #R2  = [szcy+czsxsy    czcx  szsy-czsxcy ]
          #      [-cxsy           sx   cxcy        ]
          self.set_orientation(R2,None)
          #tgt + R*[0,0,dist] = t
          self.tgt = vectorops.sub(t,so3.apply(R,[0,0,self.dist]))
function_tokens: def set_matrix ( self , T ) : R , t = T #self.rot fulfills constraint R = Rz*Rx*Ry*ori o = orientation_matrix ( * self . ori ) R2 = so3 . mul ( R , so3 . inv ( o ) ) #      [czcy-szsxsy   -szcx  czsy+szsxcy ] #R2  = [szcy+czsxsy    czcx  szsy-czsxcy ] #      [-cxsy           sx   cxcy        ] self . set_orientation ( R2 , None ) #tgt + R*[0,0,dist] = t self . tgt = vectorops . sub ( t , so3 . apply ( R , [ 0 , 0 , self . dist ] ) )