Origin

class compas.robots.Origin(point, xaxis, yaxis)[source]

Bases: compas.geometry.primitives.frame.Frame

Reference frame represented by an instance of Frame.

An origin is defined by a base point and two orthonormal base vectors.

Parameters

point (point) – The origin of the origin.
xaxis (vector) – The x-axis of the origin.
yaxis (vector) – The y-axis of the origin.

Examples

>>> from compas.geometry import Point
>>> from compas.geometry import Vector
>>> o = Origin([0, 0, 0], [1, 0, 0], [0, 1, 0])
>>> o = Origin(Point(0, 0, 0), Vector(1, 0, 0), Point(0, 1, 0))

Inherited Attributes

`DATASCHEMA`	The schema of the data of this object.
`JSONSCHEMA`	The schema of the JSON representation of the data of this object.
`JSONSCHEMANAME`
`axis_angle_vector`	The axis-angle vector representing the rotation of the frame.
`data`	The data dictionary that represents the frame.
`dtype`	The type of the object in the form of a '2-level' import and a class name.
`guid`	The globally unique identifier of the object.
`jsondefinitions`	Reusable schema definitions.
`jsonstring`	The representation of the object data in JSON format.
`jsonvalidator`	JSON schema validator for draft 7.
`name`	The name of the object.
`normal`	The normal of the base plane of the frame.
`point`	The base point of the frame.
`quaternion`	The quaternion from the rotation given by the frame.
`xaxis`	The local X axis of the frame.
`yaxis`	The local Y axis of the frame.
`zaxis`	The Z axis of the frame.

Methods

`from_urdf`	Create origin instance from an URDF element.
`get_urdf_element`
`scale`	Scale the origin by a given factor.

Inherited Methods

`copy`	Make an independent copy of the data object.
`euler_angles`	The Euler angles from the rotation given by the frame.
`from_axis_angle_vector`	Construct a frame from an axis-angle vector representing the rotation.
`from_data`	Construct a frame from its data representation.
`from_euler_angles`	Construct a frame from a rotation represented by Euler angles.
`from_json`	Construct an object from serialized data contained in a JSON file.
`from_jsonstring`	Construct an object from serialized data contained in a JSON string.
`from_list`	Construct a frame from a list of 12 or 16 float values.
`from_matrix`	Construct a frame from a matrix.
`from_plane`	Constructs a frame from a plane.
`from_points`	Constructs a frame from 3 points.
`from_quaternion`	Construct a frame from a rotation represented by quaternion coefficients.
`from_rotation`	Constructs a frame from a `Rotation`.
`from_transformation`	Constructs a frame from a `Transformation`.
`local_to_local_coordinates`	Returns the object's coordinates in frame1 in the local coordinates of frame2.
`to_data`	Convert an object to its native data representation.
`to_json`	Serialize the data representation of an object to a JSON file.
`to_jsonstring`	Serialize the data representation of an object to a JSON string.
`to_local_coordinates`	Returns the object's coordinates in the local coordinate system of the frame.
`to_world_coordinates`	Returns the object's coordinates in the global coordinate frame.
`transform`	Transform the frame.
`transformed`	Returns a transformed copy of this geometry.
`validate_data`	Validate the object's data against its data schema (self.DATASCHEMA).
`validate_json`	Validate the object's data against its json schema (self.JSONSCHEMA).
`worldXY`	Construct the world XY frame.
`worldYZ`	Construct the world YZ frame.
`worldZX`	Construct the world ZX frame.

Origin

COMPAS