xform: remove scale parameter

Author: rhamel3d

metafold/utils.py

@@ -7,24 +7,21 @@
 def xform(
     translation: Optional[ArrayLike] = None,
     rotation: Optional[ArrayLike] = None,
-    scale: Optional[ArrayLike] = None,
 ) -> np.ndarray:
     """Compose transformation matrix.
 
        Args:
             translation: Translation in the x, y, and z directions.
             rotation: Euler angles in degrees. Rotation is applied in the order Rz, Ry, Rx.
-            scale: Scale factor applied in the x, y, z directions before rotation.
 
         Returns:
             4 x 4 affine transformation matrix.
     """
     translation = translation or np.array([0.0, 0.0, 0.0])
     rotation = rotation or np.array([0.0, 0.0, 0.0])
-    scale = scale or np.array([1.0, 1.0, 1.0])
 
     r = R.from_euler("xyz", rotation,  degrees=True).as_matrix()
     m = np.eye(4)
-    m[:3, :3] = np.diag(scale) @ r
+    m[:3, :3] = r
     m[3, :3] = translation
     return m

tests/test_utils.py

@@ -12,42 +12,21 @@ def test_xform():
     ], atol=1.0e-7)
 
     m = xform(
-        [1.0, 2.0, 3.0],      # T
-        [180.0, -90.0, 0.0])  # R
+        rotation=[180.0, -90.0, 0.0])  # R
     assert_allclose(m, [
         [0.0,  0.0, 1.0, 0.0],
         [0.0, -1.0, 0.0, 0.0],
         [1.0,  0.0, 0.0, 0.0],
-        [1.0,  2.0, 3.0, 1.0],
-    ], atol=1.0e-7)
-
-    m = xform(
-        [1.0, 2.0, 3.0],        # T
-        scale=[2.0, 1.0, 1.0])  # S
-    assert_allclose(m, [
-        [2.0, 0.0, 0.0, 0.0],
-        [0.0, 1.0, 0.0, 0.0],
-        [0.0, 0.0, 1.0, 0.0],
-        [1.0, 2.0, 3.0, 1.0],
-    ], atol=1.0e-7)
-
-    m = xform(
-        rotation=[180.0, -90.0, 0.0],  # R
-        scale=[2.0, 1.0, 1.0])         # S
-    assert_allclose(m, [
-        [0.0,  0.0, 2.0, 0.0],
-        [0.0, -1.0, 0.0, 0.0],
-        [1.0,  0.0, 0.0, 0.0],
         [0.0,  0.0, 0.0, 1.0],
     ], atol=1.0e-7)
 
     m = xform(
         [1.0, 2.0, 3.0],      # T
-        [180.0, -90.0, 0.0],  # R
-        [2.0, 1.0, 1.0])      # S
+        [180.0, -90.0, 0.0])  # R
     assert_allclose(m, [
-        [0.0,  0.0, 2.0, 0.0],
+        [0.0,  0.0, 1.0, 0.0],
         [0.0, -1.0, 0.0, 0.0],
         [1.0,  0.0, 0.0, 0.0],
         [1.0,  2.0, 3.0, 1.0],
     ], atol=1.0e-7)
+