core/transformations/coordinate_system_hierarchy-1.0.0¶
Schema that describes a local coordinate system hierarchy
Description
It stores information how the different coordinate systems are arranged towards each other. The basic data structure
is a tree.
Outline
Schema Definitions ¶
This type is an object with the following properties:
- name
string Required No length restrictionroot_system_namestring Required Name of the root coordinate systemNo length restrictionreference_timetag:weldx.bam.de:weldx/time/timestamp-1.0.0 A timestamp that serves as reference point for all attached coordinate systems.subsystem_namesarray A list containing the names of subsystems that are directly attached to the main hierarchy. Nested subsystems are excluded.No length restrictionItems in the array are restricted to the following types:stringNo length restrictionsubsystemsarray A list containing the data of all subsystems including nested structures.No length restrictionItems in the array are restricted to the following types:coordinate_systemsarray Required An array of all the coordinate systems’ data. This includes their name, parent system and how they are arranged towards their parent system.No length restrictionItems in the array are restricted to the following types:Examples ¶
A CSM with two static transformations and no subsystems.:
!<tag:weldx.bam.de:weldx/core/transformations/coordinate_system_hierarchy-1.0.0> name: Coordinate system manager 0 root_system_name: base subsystems: [] coordinate_systems: - !<tag:weldx.bam.de:weldx/core/transformations/coordinate_transformation-1.0.0> name: workpiece reference_system: base transformation: !<tag:weldx.bam.de:weldx/core/transformations/local_coordinate_system-1.0.0> {} - !<tag:weldx.bam.de:weldx/core/transformations/coordinate_transformation-1.0.0> name: tcp_wire reference_system: workpiece transformation: !<tag:weldx.bam.de:weldx/core/transformations/local_coordinate_system-1.0.0> time: !<tag:weldx.bam.de:weldx/time/timedeltaindex-1.0.0> values: !core/ndarray-1.0.0 data: [0, 29000000000] datatype: int64 shape: [2] start: !<tag:weldx.bam.de:weldx/time/timedelta-1.0.0> {value: P0DT0H0M0S} end: !<tag:weldx.bam.de:weldx/time/timedelta-1.0.0> {value: P0DT0H0M29S} min: !<tag:weldx.bam.de:weldx/time/timedelta-1.0.0> {value: P0DT0H0M0S} max: !<tag:weldx.bam.de:weldx/time/timedelta-1.0.0> {value: P0DT0H0M29S} orientations: !<tag:weldx.bam.de:weldx/core/variable-1.0.0> name: orientations dimensions: [c, v] dtype: <f8 data: !core/ndarray-1.0.0 data: - [1.0, 0.0, 0.0] - [0.0, -1.0, -1.2246467991473532e-16] - [0.0, 1.2246467991473532e-16, -1.0] datatype: float64 shape: [3, 3] coordinates: !<tag:weldx.bam.de:weldx/core/variable-1.0.0> name: coordinates dimensions: [time, c] dtype: <f8 data: !core/ndarray-1.0.0 data: - [5.0, 0.0, 2.0] - [295.0, 0.0, 2.0] datatype: float64 shape: [2, 3] subsystem_names: []
Original Schema ¶
%YAML 1.1 --- $schema: "http://stsci.edu/schemas/yaml-schema/draft-01" id: "http://weldx.bam.de/schemas/weldx/core/transformations/coordinate_system_hierarchy-1.0.0" tag: "tag:weldx.bam.de:weldx/core/transformations/coordinate_system_hierarchy-1.0.0" title: | Schema that describes a local coordinate system hierarchy description: | It stores information how the different coordinate systems are arranged towards each other. The basic data structure is a tree. type: object examples: - - A CSM with two static transformations and no subsystems. - | !<tag:weldx.bam.de:weldx/core/transformations/coordinate_system_hierarchy-1.0.0> name: Coordinate system manager 0 root_system_name: base subsystems: [] coordinate_systems: - !<tag:weldx.bam.de:weldx/core/transformations/coordinate_transformation-1.0.0> name: workpiece reference_system: base transformation: !<tag:weldx.bam.de:weldx/core/transformations/local_coordinate_system-1.0.0> {} - !<tag:weldx.bam.de:weldx/core/transformations/coordinate_transformation-1.0.0> name: tcp_wire reference_system: workpiece transformation: !<tag:weldx.bam.de:weldx/core/transformations/local_coordinate_system-1.0.0> time: !<tag:weldx.bam.de:weldx/time/timedeltaindex-1.0.0> values: !core/ndarray-1.0.0 data: [0, 29000000000] datatype: int64 shape: [2] start: !<tag:weldx.bam.de:weldx/time/timedelta-1.0.0> {value: P0DT0H0M0S} end: !<tag:weldx.bam.de:weldx/time/timedelta-1.0.0> {value: P0DT0H0M29S} min: !<tag:weldx.bam.de:weldx/time/timedelta-1.0.0> {value: P0DT0H0M0S} max: !<tag:weldx.bam.de:weldx/time/timedelta-1.0.0> {value: P0DT0H0M29S} orientations: !<tag:weldx.bam.de:weldx/core/variable-1.0.0> name: orientations dimensions: [c, v] dtype: <f8 data: !core/ndarray-1.0.0 data: - [1.0, 0.0, 0.0] - [0.0, -1.0, -1.2246467991473532e-16] - [0.0, 1.2246467991473532e-16, -1.0] datatype: float64 shape: [3, 3] coordinates: !<tag:weldx.bam.de:weldx/core/variable-1.0.0> name: coordinates dimensions: [time, c] dtype: <f8 data: !core/ndarray-1.0.0 data: - [5.0, 0.0, 2.0] - [295.0, 0.0, 2.0] datatype: float64 shape: [2, 3] subsystem_names: [] properties: name: type: string root_system_name: description: | Name of the root coordinate system type: string reference_time: description: | A timestamp that serves as reference point for all attached coordinate systems. tag: "tag:weldx.bam.de:weldx/time/timestamp-1.0.0" subsystem_names: description: | A list containing the names of subsystems that are directly attached to the main hierarchy. Nested subsystems are excluded. type: array items: type: string subsystems: description: | A list containing the data of all subsystems including nested structures. type: array items: tag: "tag:weldx.bam.de:weldx/core/transformations/coordinate_system_hierarchy_subsystem-1.0.0" coordinate_systems: description: | An array of all the coordinate systems' data. This includes their name, parent system and how they are arranged towards their parent system. type: array items: tag: "tag:weldx.bam.de:weldx/core/transformations/coordinate_transformation-1.0.0" propertyOrder: [name, root_system_name, reference_time, subsystems, subsystem_data, coordinate_systems] required: [name, root_system_name, coordinate_systems] flowStyle: block ...