openalea.phenomenal.calibration.Frame

class openalea.phenomenal.calibration.Frame(axes=None, origin=None)

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

__init__(axes=None, origin=None)

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
arr_local_point(point)	Local coordinates of a global point
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_points(points)	Local coordinates of global points
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
local_vecs(vecs)	Local coordinates of global vectors
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