weldx.LocalCoordinateSystem#
- class weldx.LocalCoordinateSystem(orientation=None, coordinates=None, time=None, time_ref=None, construction_checks=True)#
Defines a local cartesian coordinate system in 3d.
Notes
Learn how to use this class by reading the tutorial <tutorials/transformations_01_coordinate_systems>.
Construct a cartesian coordinate system.
- Parameters:
orientation (
Union
[DataArray
,_SupportsArray
[dtype
[Any
]],_NestedSequence
[_SupportsArray
[dtype
[Any
]]],bool
,int
,float
,complex
,str
,bytes
,_NestedSequence
[Union
[bool
,int
,float
,complex
,str
,bytes
]],Rotation
,None
]) – Matrix of 3 orthogonal column vectors which represent the coordinate systems orientation. Keep in mind, that the columns of the corresponding orientation matrix is equal to the normalized orientation vectors. So each orthogonal transformation matrix can also be provided as orientation. Passing a scipy.spatial.transform.Rotation object is also supported.coordinates (
Union
[DataArray
,_SupportsArray
[dtype
[Any
]],_NestedSequence
[_SupportsArray
[dtype
[Any
]]],bool
,int
,float
,complex
,str
,bytes
,_NestedSequence
[Union
[bool
,int
,float
,complex
,str
,bytes
]],Quantity
,TimeSeries
,None
]) – Coordinates of the origin.time (
Union
[DatetimeIndex
,datetime64
,list
[str
],Time
,TimedeltaIndex
,Quantity
,timedelta64
,Timestamp
,str
,TimeDependent
,None
]) – Time data for time dependent coordinate systems. If the provided coordinates and orientations contain only a single value, the coordinate system is considered to be static and the provided value won’t be stored. If this happens, a warning will be emitted.time_ref (
Union
[Timestamp
,str
,Time
,None
]) – Optional reference timestamp iftime
is a time delta.construction_checks (
bool
) – If ‘True’, the validity of the data will be verified
- Returns:
Cartesian coordinate system
- Return type:
Methods
Return Euler angle representation of the coordinate system orientation.
Get a homogeneous transformation matrix from the coordinate system orientation.
Get a scipy.Rotation object from the coordinate system orientation.
Create a LCS from two or more coordinate axes.
Construct a local coordinate system from an euler sequence.
Construct a local coordinate system from a homogeneous transformation matrix.
Interpolates the data in time.
Get a local coordinate system defining the parent in the child system.
Plot the coordinate system.
Reset the reference time of the coordinate system.
Attributes
Get the coordinate systems coordinates.
Get the underlying
xarray.Dataset
with ordered dimensions.Return
True
if the coordinate system has a reference time.Return
True
if the system has aTimeSeries
component.Return
True
if the coordinate system is time dependent.Return true if the LCS represents a unity rotation/orientations value.
Return true if the LCS has a zero translation/coordinates value.
Get the coordinate systems orientation matrix.
Get the coordinate systems reference time.
Get the time union of the local coordinate system (None if system is static).