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)
def from_euler_angles(cls, euler_angles, static=True,
axes='xyz', point=[0, 0, 0]):
"""Construct a frame from a rotation represented by Euler angles.
Parameters
----------
euler_angles : list of float
Three numbers that represent the angles of rotations about the defined axes.
static : bool, optional
If true the rotations are applied to a static frame.
If not, to a rotational.
Defaults to true.
axes : str, optional
A 3 character string specifying the order of the axes.
Defaults to 'xyz'.
point : list of float, optional
The point of the frame.
Defaults to ``[0, 0, 0]``.
Returns
-------
:class:`compas.geometry.Frame`
The constructed frame.
Examples
--------
>>> ea1 = 1.4, 0.5, 2.3
>>> f = Frame.from_euler_angles(ea1, static=True, axes='xyz')
>>> ea2 = f.euler_angles(static=True, axes='xyz')
>>> allclose(ea1, ea2)
True
"""
R = matrix_from_euler_angles(euler_angles, static, axes)
xaxis, yaxis = basis_vectors_from_matrix(R)
return cls(point, xaxis, yaxis)
def test_matrix_from_euler_angles():
ea1 = 1.4, 0.5, 2.3
args = True, 'xyz'
R = matrix_from_euler_angles(ea1, *args)
r = [[-0.5847122176808724, -0.4415273357486694, 0.6805624396639868, 0.0],
[0.6544178905170501, 0.23906322244658262, 0.7173464994301357, 0.0],
[-0.479425538604203, 0.8648134986574489, 0.14916020070358058, 0.0],
[0.0, 0.0, 0.0, 1.0]]
assert allclose(R, r)
def test_euler_angles_from_matrix():
ea1 = 1.4, 0.5, 2.3
args = True, 'xyz'
R = matrix_from_euler_angles(ea1, *args)
ea2 = euler_angles_from_matrix(R, *args)
assert allclose(ea1, ea2)
