core/transformations/local_coordinate_system-0.1.1#
Schema that describes a local coordinate system
Description
A local coordinate system is described by time-dependent coordinates and orientations towards a reference system.
Outline
Schema Definitions ¶
This type is an object with the following properties:
- reference_time
asdf://weldx.bam.de/weldx/tags/time/timestamp-0.1.* A timestamp that serves as reference point for the time deltas of the ‘time’ tag. - time
asdf://weldx.bam.de/weldx/tags/time/timedeltaindex-0.1.* A list of timestamps - coordinates
object An ndarray containing the coordinates.This node must validate against one of the following:
- orientations
asdf://weldx.bam.de/weldx/tags/core/variable-0.1.* An ndarray containing the orientations.
Examples ¶
A constant transformation describing a translation of 1 mm into the z direction:
!<asdf://weldx.bam.de/weldx/tags/core/transformations/local_coordinate_system-0.1.1>
coordinates: !<asdf://weldx.bam.de/weldx/tags/core/variable-0.1.0>
name: coordinates
dimensions: [c]
dtype: <f8
units: !<asdf://weldx.bam.de/weldx/tags/units/units-0.1.0> millimeter
data: !core/ndarray-1.0.0
data: [0.0, 0.0, 1.0]
datatype: float64
shape: [3]
A time dependent transformation describing a linear movement from 5 mm to 295 mm over 20 seconds along the x-axis direction. :
!<asdf://weldx.bam.de/weldx/tags/core/transformations/local_coordinate_system-0.1.1>
time: !<asdf://weldx.bam.de/weldx/tags/time/timedeltaindex-0.1.0>
values: !core/ndarray-1.0.0
data: [0, 20000000000]
datatype: int64
shape: [2]
start: !<asdf://weldx.bam.de/weldx/tags/time/timedelta-0.1.0> P0DT0H0M0S
end: !<asdf://weldx.bam.de/weldx/tags/time/timedelta-0.1.0> P0DT0H0M20S
min: !<asdf://weldx.bam.de/weldx/tags/time/timedelta-0.1.0> P0DT0H0M0S
max: !<asdf://weldx.bam.de/weldx/tags/time/timedelta-0.1.0> P0DT0H0M20S
coordinates: !<asdf://weldx.bam.de/weldx/tags/core/variable-0.1.0>
name: coordinates
dimensions: [time, c]
dtype: <f8
units: !<asdf://weldx.bam.de/weldx/tags/units/units-0.1.0> millimeter
data: !core/ndarray-1.0.0
data:
- [5.0, 0.0, 0.0]
- [295.0, 0.0, 0.0]
datatype: float64
shape: [2, 3]
A static transformation describing an euler rotation of 45 degree around the x-axis.:
!<asdf://weldx.bam.de/weldx/tags/core/transformations/local_coordinate_system-0.1.1>
orientations: !<asdf://weldx.bam.de/weldx/tags/core/variable-0.1.0>
name: orientations
dimensions: [c, v]
dtype: <f8
data: !core/ndarray-1.0.0
data:
- [0.7071067811865475, -0.7071067811865476, 0.0]
- [0.7071067811865476, 0.7071067811865475, 0.0]
- [0.0, 0.0, 1.0]
datatype: float64
shape: [3, 3]
A time dependent transformation describing an euler rotation around the y-axis from 0 degree to 120 degree over 20 seconds. :
!<asdf://weldx.bam.de/weldx/tags/core/transformations/local_coordinate_system-0.1.1>
time: !<asdf://weldx.bam.de/weldx/tags/time/timedeltaindex-0.1.0>
values: !core/ndarray-1.0.0
data: [0, 20000000000]
datatype: int64
shape: [2]
start: !<asdf://weldx.bam.de/weldx/tags/time/timedelta-0.1.0> P0DT0H0M0S
end: !<asdf://weldx.bam.de/weldx/tags/time/timedelta-0.1.0> P0DT0H0M20S
min: !<asdf://weldx.bam.de/weldx/tags/time/timedelta-0.1.0> P0DT0H0M0S
max: !<asdf://weldx.bam.de/weldx/tags/time/timedelta-0.1.0> P0DT0H0M20S
orientations: !<asdf://weldx.bam.de/weldx/tags/core/variable-0.1.0>
name: orientations
dimensions: [time, c, v]
dtype: <f8
data: !core/ndarray-1.0.0
data:
- - [1.0, 0.0, 0.0]
- [0.0, 1.0, 0.0]
- [0.0, 0.0, 1.0]
- - [-0.4999999999999998, 0.0, 0.8660254037844388]
- [0.0, 1.0, 0.0]
- [-0.8660254037844388, 0.0, -0.4999999999999998]
datatype: float64
shape: [2, 3, 3]
wx_shape:
coordinates: ['...', 3]
orientations: [(t), 3, 3]
Original Schema ¶
%YAML 1.1
---
$schema: "http://stsci.edu/schemas/yaml-schema/draft-01"
id: "asdf://weldx.bam.de/weldx/schemas/core/transformations/local_coordinate_system-0.1.1"
title: |
Schema that describes a local coordinate system
description: |
A local coordinate system is described by time-dependent coordinates and orientations towards a reference system.
examples:
-
- A constant transformation describing a translation of 1 mm into the z direction
- |
!<asdf://weldx.bam.de/weldx/tags/core/transformations/local_coordinate_system-0.1.1>
coordinates: !<asdf://weldx.bam.de/weldx/tags/core/variable-0.1.0>
name: coordinates
dimensions: [c]
dtype: <f8
units: !<asdf://weldx.bam.de/weldx/tags/units/units-0.1.0> millimeter
data: !core/ndarray-1.0.0
data: [0.0, 0.0, 1.0]
datatype: float64
shape: [3]
-
- |
A time dependent transformation describing a linear movement from 5 mm to 295 mm
over 20 seconds along the x-axis direction.
- |
!<asdf://weldx.bam.de/weldx/tags/core/transformations/local_coordinate_system-0.1.1>
time: !<asdf://weldx.bam.de/weldx/tags/time/timedeltaindex-0.1.0>
values: !core/ndarray-1.0.0
data: [0, 20000000000]
datatype: int64
shape: [2]
start: !<asdf://weldx.bam.de/weldx/tags/time/timedelta-0.1.0> P0DT0H0M0S
end: !<asdf://weldx.bam.de/weldx/tags/time/timedelta-0.1.0> P0DT0H0M20S
min: !<asdf://weldx.bam.de/weldx/tags/time/timedelta-0.1.0> P0DT0H0M0S
max: !<asdf://weldx.bam.de/weldx/tags/time/timedelta-0.1.0> P0DT0H0M20S
coordinates: !<asdf://weldx.bam.de/weldx/tags/core/variable-0.1.0>
name: coordinates
dimensions: [time, c]
dtype: <f8
units: !<asdf://weldx.bam.de/weldx/tags/units/units-0.1.0> millimeter
data: !core/ndarray-1.0.0
data:
- [5.0, 0.0, 0.0]
- [295.0, 0.0, 0.0]
datatype: float64
shape: [2, 3]
-
- A static transformation describing an euler rotation of 45 degree around the x-axis.
- |
!<asdf://weldx.bam.de/weldx/tags/core/transformations/local_coordinate_system-0.1.1>
orientations: !<asdf://weldx.bam.de/weldx/tags/core/variable-0.1.0>
name: orientations
dimensions: [c, v]
dtype: <f8
data: !core/ndarray-1.0.0
data:
- [0.7071067811865475, -0.7071067811865476, 0.0]
- [0.7071067811865476, 0.7071067811865475, 0.0]
- [0.0, 0.0, 1.0]
datatype: float64
shape: [3, 3]
-
- |
A time dependent transformation describing an euler rotation around the y-axis from 0 degree to 120 degree
over 20 seconds.
- |
!<asdf://weldx.bam.de/weldx/tags/core/transformations/local_coordinate_system-0.1.1>
time: !<asdf://weldx.bam.de/weldx/tags/time/timedeltaindex-0.1.0>
values: !core/ndarray-1.0.0
data: [0, 20000000000]
datatype: int64
shape: [2]
start: !<asdf://weldx.bam.de/weldx/tags/time/timedelta-0.1.0> P0DT0H0M0S
end: !<asdf://weldx.bam.de/weldx/tags/time/timedelta-0.1.0> P0DT0H0M20S
min: !<asdf://weldx.bam.de/weldx/tags/time/timedelta-0.1.0> P0DT0H0M0S
max: !<asdf://weldx.bam.de/weldx/tags/time/timedelta-0.1.0> P0DT0H0M20S
orientations: !<asdf://weldx.bam.de/weldx/tags/core/variable-0.1.0>
name: orientations
dimensions: [time, c, v]
dtype: <f8
data: !core/ndarray-1.0.0
data:
- - [1.0, 0.0, 0.0]
- [0.0, 1.0, 0.0]
- [0.0, 0.0, 1.0]
- - [-0.4999999999999998, 0.0, 0.8660254037844388]
- [0.0, 1.0, 0.0]
- [-0.8660254037844388, 0.0, -0.4999999999999998]
datatype: float64
shape: [2, 3, 3]
type: object
properties:
reference_time:
description: |
A timestamp that serves as reference point for the time deltas of the 'time' tag.
tag: "asdf://weldx.bam.de/weldx/tags/time/timestamp-0.1.*"
time:
description: |
A list of timestamps
tag: "asdf://weldx.bam.de/weldx/tags/time/timedeltaindex-0.1.*"
coordinates:
description: |
An ndarray containing the coordinates.
oneOf:
- tag: "asdf://weldx.bam.de/weldx/tags/core/variable-0.1.*"
wx_unit: "m"
- tag: "asdf://weldx.bam.de/weldx/tags/core/time_series-0.1.*"
wx_unit: "m"
orientations:
description: |
An ndarray containing the orientations.
tag: "asdf://weldx.bam.de/weldx/tags/core/variable-0.1.*"
wx_shape:
coordinates: [..., 3]
orientations: [(t), 3, 3]
propertyOrder: [reference_time, time, orientations, coordinates]
flowStyle: block
...