def to_world_coords(self, object_in_lcs):
"""Returns the object's coordinates in the global coordinate frame.
Parameters
----------
object_in_lcs : :class:`compas.geometry.Point` or :class:`compas.geometry.Vector` or :class:`compas.geometry.Frame` or list of float
An object in local coordinate system of the frame.
Returns
-------
:class:`compas.geometry.Point` or :class:`compas.geometry.Vector` or :class:`compas.geometry.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 Point
>>> 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)
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:`compas.geometry.Frame`
A frame representing one local coordinate system.
frame2 : :class:`compas.geometry.Frame`
A frame representing another local coordinate system.
object_in_frame1 : :class:`compas.geometry.Point` or :class:`compas.geometry.Vector` or :class:`compas.geometry.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:`compas.geometry.Point` or :class:`compas.geometry.Vector` or :class:`compas.geometry.Frame`
The object in the local coordinate system of frame2.
Examples
--------
>>> from compas.geometry import Point
>>> 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 worldxy_to_robot_base_xform(robot_base_frame):
"""Calculate the transformation matrix for transformations between WCS to RCS.
Parameters
----------
robot_base_frame : :class:`compas.geometry.Frame`
Robot base frame in WCS. The frame origin is the location of the RCS origo
in WCS, the X axis and Y axis are the X and Y axes of the RCS in WCS.
Returns
-------
:class:`compas.geometry.Transformation`
The transformation matrix.
"""
return Transformation.change_basis(Frame.worldXY(), robot_base_frame)
"""Change-basis transformation vs transformation between two frames. """ from compas.geometry import Point from compas.geometry import Frame from compas.geometry import Transformation F1 = Frame([2, 2, 2], [0.12, 0.58, 0.81], [-0.80, 0.53, -0.26]) F2 = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15]) # transformation between 2 frames F1, F2 Tf = Transformation.from_frame_to_frame(F1, F2) # change-basis transformation between two frames F1 and F2. Tc = Transformation.change_basis(F1, F2) # they are different print(Tf) print(Tc) # This is how to use Tf: transform geometry into another coordinate frame pt = Point(2, 2, 2) pt.transform(Tf) print(pt, "==", F2.point) # This is how to use Tc: represent geometry in another coordinate frame pt = Point(0, 0, 0) # local point in F1 pt.transform(Tc) print(pt, "==", F2.to_local_coords(F1.point))