def test_decompose_matrix(R, T):
assert decompose_matrix(R.matrix) == ([1.0, 1.0, 1.0], [0.0, 0.0, 0.0],
[2.035405699485789, 0.0,
0.0], [0.0, 0.0,
0.0], [0.0, 0.0, 0.0, 1.0])
assert decompose_matrix(T.matrix) == ([1.0, 1.0, 1.0], [0.0, 0.0, 0.0],
[0.0, -0.0,
0.0], [1.0, 2.0,
3.0], [0.0, 0.0, 0.0, 1.0])
def from_matrix(cls, matrix):
"""Construct a frame from a matrix.
Parameters
----------
matrix : list of list of float
The 4x4 transformation matrix in row-major order.
Returns
-------
:class:`compas.geometry.Frame`
The constructed frame.
Examples
--------
>>> from compas.geometry import matrix_from_euler_angles
>>> ea1 = [0.5, 0.4, 0.8]
>>> M = matrix_from_euler_angles(ea1)
>>> f = Frame.from_matrix(M)
>>> ea2 = f.euler_angles()
>>> allclose(ea1, ea2)
True
"""
_, _, angles, point, _ = decompose_matrix(matrix)
R = matrix_from_euler_angles(angles, static=True, axes='xyz')
xaxis, yaxis = basis_vectors_from_matrix(R)
return cls(point, xaxis, yaxis)