# Naming conventionsΒΆ

In the code, we try to abbreviate common concepts in a standard way.

*aff*- 4x4 affine matrix for operating on homogenous coordinates of shape (4,) or (4, N);*mat*- 3x3 transformation matrix for operating on non-homogenous coordinate vectors of shape (3,) or (3, N). A rotation matrix is an example of a transformation matrix;*euler*- euler angles - sequence of three scalars giving rotations about defined axes;*axangle*- axis angle - axis (vector) and angle (scalar) giving axis around which to rotate and angle of rotation;*quat*- quaternion - shape (4,);*rfnorm*: reflection in plane defined by normal (vector) and optional point (vector);*zfdir*: zooms encoded by factor (scalar) and direction (vector)*zdir*- factor (scalar), direction (vector) pair to specify 3D zoom matrix;*striu*: shears encoded by vector giving triangular portion above diagonal of NxN array (for ND transformation)*sadn*: shears encoded by angle scalar, direction vector, normal vector (with optional point vector)