automatically.
"""
print(__doc__)
import numpy as np
import matplotlib.pyplot as plt
from pytransform.rotations import (random_quaternion, matrix_from_euler_xyz,
q_id)
from pytransform.transformations import transform_from_pq, transform_from
from pytransform.transform_manager import TransformManager
random_state = np.random.RandomState(0)
ee2robot = transform_from_pq(
np.hstack((np.array([0.4, -0.3, 0.5]), random_quaternion(random_state))))
cam2robot = transform_from_pq(np.hstack((np.array([0.0, 0.0, 0.8]), q_id)))
object2cam = transform_from(matrix_from_euler_xyz(np.array([0.0, 0.0, 0.5])),
np.array([0.5, 0.1, 0.1]))
tm = TransformManager()
tm.add_transform("end-effector", "robot", ee2robot)
tm.add_transform("camera", "robot", cam2robot)
tm.add_transform("object", "camera", object2cam)
ee2object = tm.get_transform("end-effector", "object")
ax = tm.plot_frames_in("robot", s=0.1)
ax.set_xlim((-0.25, 0.75))
ax.set_ylim((-0.5, 0.5))
ax.set_zlim((0.0, 1.0))
plt.show()
import numpy as np
import matplotlib.pyplot as plt
from pytransform.plot_utils import make_3d_axis
from pytransform.transformations import random_transform
from pytransform.transform_manager import TransformManager
random_state = np.random.RandomState(0)
A2world = random_transform(random_state)
B2world = random_transform(random_state)
A2C = random_transform(random_state)
D2B = random_transform(random_state)
tm = TransformManager()
tm.add_transform("A", "world", A2world)
tm.add_transform("B", "world", B2world)
tm.add_transform("A", "C", A2C)
tm.add_transform("D", "B", D2B)
plt.figure(figsize=(10, 5))
ax = make_3d_axis(3, 121)
ax = tm.plot_frames_in("world", ax=ax, alpha=0.6)
ax.view_init(30, 20)
ax = make_3d_axis(3, 122)
ax = tm.plot_frames_in("A", ax=ax, alpha=0.6)
ax.view_init(30, 20)
plt.show()