Robot.to_local_coords
-
Robot.
to_local_coords
(frame_WCF, group=None)[source] Represents a frame from the world coordinate system (WCF) in the robot’s coordinate system (RCF).
- Parameters
frame_WCF (
compas.geometry.Frame
) – A frame in the world coordinate frame.- Returns
compas.geometry.Frame
– A frame in the robot’s coordinate frame.
Examples
>>> frame_WCF = Frame([-0.363, 0.003, -0.147], [0.388, -0.351, -0.852], [0.276, 0.926, -0.256]) >>> frame_RCF = robot.to_local_coords(frame_WCF) >>> frame_RCF Frame(Point(-0.363, 0.003, -0.147), Vector(0.388, -0.351, -0.852), Vector(0.276, 0.926, -0.256))