def local_to_local_coords(frame1, frame2, object_in_frame1):
"""Returns the object's coordinates in frame1 in the local coordinates of frame2.
Parameters
----------
frame1 : :class:`Frame`
A frame representing one local coordinate system.
frame2 : :class:`Frame`
A frame representing another local coordinate system.
object_in_frame1 : :class:`Point` or :class:`Vector` or :class:`Frame` or list of float
An object in the coordinate frame1. If you pass a list of float, it is assumed to represent a point.
Returns
-------
:class:`Point` or :class:`Vector` or :class:`Frame`
The object in the local coordinate system of frame2.
Examples
--------
>>> from compas.geometry import Point, Frame
>>> frame1 = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15])
>>> frame2 = Frame([2, 1, 3], [1., 0., 0.], [0., 1., 0.])
>>> p1 = Point(2, 2, 2) # point in frame1
>>> p2 = Frame.local_to_local_coords(frame1, frame2, p1) # point in frame2
>>> Frame.local_to_local_coords(frame2, frame1, p2)
Point(2.000, 2.000, 2.000)
"""
T = Transformation.change_basis(frame1, frame2)
if isinstance(object_in_frame1, list):
return Point(*object_in_frame1).transformed(T)
else:
return object_in_frame1.transformed(T)
def to_world_coords(self, object_in_lcs):
"""Returns the object's coordinates in the global coordinate frame.
Parameters
----------
object_in_lcs : :class:`Point` or :class:`Vector` or :class:`Frame` or list of float
An object in local coordinate system of the frame.
Returns
-------
:class:`Point` or :class:`Vector` or :class:`Frame`
The object in the world coordinate frame.
Notes
-----
If you pass a list of float, it is assumed to represent a point.
Examples
--------
>>> from compas.geometry import Frame
>>> frame = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15])
>>> pl = Point(1.632, -0.090, 0.573) # point in frame
>>> pw = frame.to_world_coords(pl) # point in wcf
>>> frame.to_local_coords(pw)
Point(1.632, -0.090, 0.573)
"""
T = Transformation.change_basis(self, Frame.worldXY())
if isinstance(object_in_lcs, list):
return Point(*object_in_lcs).transformed(T)
else:
return object_in_lcs.transformed(T)