weldx.transformations.local_cs.LocalCoordinateSystem¶

class weldx.transformations.local_cs.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.

Construct a cartesian coordinate system.

Parameters

orientation (Union[DataArray, ndarray, List[List], 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, ndarray, List, None]) – Coordinates of the origin
time (Union[DatetimeIndex, TimedeltaIndex, Quantity, 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 (Optional[Timestamp]) – Reference Timestamp to use if time is Timedelta or pint.Quantity.
construction_checks (bool) – If ‘True’, the validity of the data will be verified

Returns

Cartesian coordinate system

Return type

LocalCoordinateSystem

Methods

`as_euler`	Return Euler angle representation of the coordinate system orientation.
`as_rotation`	Get a scipy.Rotation object from the coordinate system orientation.
`from_euler`	Construct a local coordinate system from an euler sequence.
`from_orientation`	Construct a local coordinate system from orientation matrix.
`from_xy_and_orientation`	Construct a coordinate system from 2 vectors and an orientation.
`from_xyz`	Construct a local coordinate system from 3 vectors defining the orientation.
`from_xz_and_orientation`	Construct a coordinate system from 2 vectors and an orientation.
`from_yz_and_orientation`	Construct a coordinate system from 2 vectors and an orientation.
`interp_time`	Interpolates the data in time.
`invert`	Get a local coordinate system defining the parent in the child system.
`plot`	Plot the coordinate system.
`reset_reference_time`	Reset the reference time of the coordinate system.

Attributes

`coordinates`	Get the coordinate systems coordinates.
`dataset`	Get the underlying xarray.Dataset with ordered dimensions.
`datetimeindex`	Get the time as ‘pandas.DatetimeIndex’.
`has_reference_time`	Return `True` if the coordinate system has a reference time.
`is_time_dependent`	Return `True` if the coordinate system is time dependent.
`is_unity_rotation`	Return true if the LCS represents a unity rotation/orientations value.
`is_unity_translation`	Return true if the LCS has a zero translation/coordinates value.
`orientation`	Get the coordinate systems orientation matrix.
`reference_time`	Get the coordinate systems reference time.
`time`	Get the time union of the local coordinate system (None if system is static).
`time_quantity`	Get the time as ‘pint.Quantity’.