def to_local(self, xyz):
"""
calculates local coordinates for points in parent CS/
:param xyz: coordinates in parent (global) coordinate system.
"""
xyz_offset = check_points_array(xyz) - self.origin
return self._rotation.reciprocal().rotate(xyz_offset)
def to_parent(self, xyz):
"""
calculates coordinates of given points in parent (global) CS
:param xyz: local coordinates array
"""
xyz = check_points_array(xyz)
return self._rotation.rotate(xyz) + self.origin
