def transform(self, transformation):
"""Transform the frame.
Parameters
----------
transformation : :class:`Transformation`
The transformation used to transform the Frame.
Examples
--------
>>> from compas.geometry import Frame
>>> from compas.geometry import Transformation
>>> f1 = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15])
>>> T = Transformation.from_frame(f1)
>>> f2 = Frame.worldXY()
>>> f2.transform(T)
>>> f1 == f2
True
"""
T = transformation * Transformation.from_frame(self)
point = T.translation
xaxis, yaxis = T.basis_vectors
self.point = point
self.xaxis = xaxis
self.yaxis = yaxis
def test_from_frame():
f1 = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15])
T = Transformation.from_frame(f1)
f2 = Frame.from_transformation(T)
assert np.allclose(f1, f2)
def test_inverse():
f = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15])
T = Transformation.from_frame(f)
assert Transformation() == T * T.inverse()