openalea.phenomenal.calibration.frame.Frame#

class openalea.phenomenal.calibration.frame.Frame(axes=None, origin=None)[source]#

Bases: object

A helping class to deal with change of referential in 3D space.

__init__(axes=None, origin=None)[source]#

Constructor

Construct a new orthonormal Frame default is the canonical one.

Parameters:
  • axes ([array,array,array]) - orientation of axes each array is

    the coordinate of the local axis in the global frame

  • origin (array) - position of the origin of this frame

    in the global frame

Methods

__init__([axes, origin])

Constructor

axis(i)

Return the coordinates of the ith axis of the frame

global_point(point)

Global coordinates of a local point

global_tensor(tensor)

Global coordinates of a local tensor

global_tensor2(tensor)

Global coordinates of a local tensor

global_vec(vec)

Global coordinates of a local vector

local_point(point)

Local coordinates of a global point

local_tensor(tensor)

Local coordinates of a global tensor

local_tensor2(tensor)

Local coordinates of a global tensor expressed in the local plane Ox,Oy

local_vec(vec)

Local coordinates of a global vector

origin()

Origin of this frame

rotation_to_global()

Return the inverse rotation associated with this frame

rotation_to_local()

Return the rotation associated with this frame
axis(i)[source]#

Return the coordinates of the ith axis of the frame

Returns Type:

array

global_point(point)[source]#

Global coordinates of a local point

Parameters:

point (float,float,float) - a position in the local frame

Returns Type:

array

global_tensor(tensor)[source]#

Global coordinates of a local tensor

Parameters:

  • tensor (3x3 array) - tensor expressed in local coordinates

Returns Type:

3x3 array

global_tensor2(tensor)[source]#

Global coordinates of a local tensor

Warning

use this function only if the third axis of the frame is colinear to the third axis of the global frame.

Parameters:

  • tensor (array) - tensor expressed in local coordinates

Returns Type:

array

global_vec(vec)[source]#

Global coordinates of a local vector

Parameters:

vec (float,float,float) - a vector in the local frame

Returns Type:

array

local_point(point)[source]#

Local coordinates of a global point

Parameters:

point (float,float,float) - a position in the global frame

Returns Type:

array

local_tensor(tensor)[source]#

Local coordinates of a global tensor

Parameters:

  • tensor (3x3 array) - tensor expressed in global coordinates

Returns Type:

3x3 array

local_tensor2(tensor)[source]#

Local coordinates of a global tensor expressed in the local plane Ox,Oy

Warning

use this function only if the third axis of the frame is colinear to the third axis of the global frame.

Parameters:

  • tensor (array) - tensor expressed in global coordinates

Returns Type:

array

local_vec(vec)[source]#

Local coordinates of a global vector

Parameters:

vec (float,float,float) - a (array of) vector in the global frame

Returns Type:

array

origin()[source]#

Origin of this frame

Returns Type:

array

rotation_to_global()[source]#

Return the inverse rotation associated with this frame

Compute the 3x3 tensor R that transform a vector from the local frame to a global one. global_vec = R * local_vec

Returns Type:

3x3 array

rotation_to_local()[source]#

Return the rotation associated with this frame

Compute the 3x3 tensor R that transform a vector from a global frame to this local one. local_vec = R * global_vec

Returns Type:

3x3 array