from_tcf_to_t0cf

compas_fab.utilities.from_tcf_to_t0cf(tcf_frame_in_wcf, tool_coordinate_frame)

Converts a frame describing the robot’s tool tip (tcf frame) relative to WCF to a frame describing the robot’s flange (tool0 frame), relative to WCF.

Let: W_TCF = tcf_frame_in_wcf Let: T0CF_TCF = tool_coordinate_frame And: TCF_T0CF = (T0CF_TCF)^-1 Let: frames_t0cf = W_T0CF Then: W_T0CF = W_TCF * TCF_T0CF

Parameters:

tcf_frame_in_wcfFrame

Frame (in WCF) of the robot’s tool tip (tcf).

tool_coordinate_frameFrame

Tool tip coordinate frame relative to the flange of the robot.

Returns:

Frame

Frame (in WCF) of the robot’s flange (tool0).