weldx.LocalCoordinateSystem.from_homogeneous_transformation

classmethod LocalCoordinateSystem.from_homogeneous_transformation(transformation_matrix, translation_unit, time=None, time_ref=None)

Construct a local coordinate system from a homogeneous transformation matrix.

Parameters:

• transformation_matrix (Union[DataArray, ndarray]) – Describes the homogeneous transformation matrix that includes the rotation and the translation (coordinates).

• translation_unit (Union[str, Unit, UnitsContainer]) – Unit describing the value of the translation. Necessary, because the homogeneous transformation matrix is unitless.

• time (Union[DatetimeIndex, datetime64, list[str], Time, TimedeltaIndex, Quantity, timedelta64, Timestamp, str, TimeDependent, None]) – Time data for time dependent coordinate systems (Default value = None)

• time_ref (Union[Timestamp, str, Time, None]) – Optional reference timestamp if time is a time delta.

Returns:

Local coordinate system

Return type:

LocalCoordinateSystem