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))

Methods

`copy`([cls])	Make an independent copy of the data object.
`euler_angles`([static, axes])	The Euler angles from the rotation given by the frame.
`from_axis_angle_vector`(axis_angle_vector[, …])	Construct a frame from an axis-angle vector representing the rotation.
`from_data`(data)	Construct a frame from its data representation.
`from_euler_angles`(euler_angles[, static, …])	Construct a frame from a rotation represented by Euler angles.
`from_json`(filepath)	Construct an object from serialized data contained in a JSON file.
`from_list`(values)	Construct a frame from a list of 12 or 16 float values.
`from_matrix`(matrix)	Construct a frame from a matrix.
`from_plane`(plane)	Constructs a frame from a plane.
`from_points`(point, point_xaxis, point_xyplane)	Constructs a frame from 3 points.
`from_quaternion`(quaternion[, point])	Construct a frame from a rotation represented by quaternion coefficients.
`from_rotation`(rotation[, point])	Constructs a frame from a `Rotation`.
`from_transformation`(transformation)	Constructs a frame from a `Transformation`.
`from_urdf`(attributes, elements, text)	Create origin instance from an URDF element.
`get_urdf_element`()
`local_to_local_coordinates`(frame1, frame2, …)	Returns the object’s coordinates in frame1 in the local coordinates of frame2.
`scale`(factor)	Scale the origin by a given factor.
`to_data`()	Convert an object to its native data representation.
`to_json`(filepath[, pretty])	Serialize the data representation of an object to a JSON file.
`to_local_coordinates`(object_in_wcf)	Returns the object’s coordinates in the local coordinate system of the frame.
`to_world_coordinates`(object_in_lcf)	Returns the object’s coordinates in the global coordinate frame.
`transform`(T)	Transform the frame.
`transformed`(transformation)	Returns a transformed copy of this primitive.
`validate_data`()	Validate the data of this object against its data schema (self.DATASCHEMA).
`validate_json`()	Validate the data loaded from a JSON representation of the data of this object against its data schema (self.DATASCHEMA).
`worldXY`()	Construct the world XY frame.
`worldYZ`()	Construct the world YZ frame.
`worldZX`()	Construct the world ZX frame.

Origin

COMPAS