Sometimes it's convenient to create an object and then make copies at different orientations and in different sizes. Transformations are used to move geometrical objects in the 3-dimensional space and to resize them.
![\begin{classdesc}{Translation}{\optional{b=[0,0,0]}}
defines a translation $x \t...
... converted
into a \module{numpy}\xspace object of shape $(3,)$.
\end{classdesc}](img818.png)
![\begin{classdesc}{Rotation}{\optional{axis=[1,1,1], \optional{ point = [0,0,0], ...
...sitive length. The right hand rule~\cite{RIGHTHANDRULE}
applies.
\end{classdesc}](img819.png)
![\begin{classdesc}{Dilation}{\optional{factor=1., \optional{centre=[0,0,0]}}}
def...
... converted
into a \module{numpy}\xspace object of shape $(3,)$.
\end{classdesc}](img820.png)
![\begin{classdesc}{Reflection}{\optional{normal=[1,1,1], \optional{offset=0}}}
de...
...} does not have to be normalised but must have positive length.
\end{classdesc}](img821.png)
