weldx.transformations.CoordinateSystemManager.create_cs_from_homogeneous_transformation#

CoordinateSystemManager.create_cs_from_homogeneous_transformation(coordinate_system_name, reference_system_name, transformation_matrix, translation_unit, time=None, time_ref=None, lcs_child_in_parent=True)#

Create a coordinate system from a homogeneous transformation matrix and add it to the coordinate system manager.

This function uses the LocalCoordinateSystem.from_homogeneous_transformation method of the LocalCoordinateSystem class.

Parameters:

  • coordinate_system_name (str) – Name of the new coordinate system.

  • reference_system_name (str) – Name of the parent system. This must have been already added.

  • 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.

  • time_ref (Union[Timestamp, str, Time, None]) – Reference time for time dependent coordinate systems

  • lcs_child_in_parent (bool) – If set to True, the passed LocalCoordinateSystem instance describes the new system orientation towards is parent. If False, it describes how the parent system is positioned in its new child system.