core/transformations/rotation-0.1.0#
Schema to describe a 3D rotation.
Description
ASDF implementation for Scipy.Rotation class.
Outline
Schema Definitions ¶
This node must validate against one of the following:
- This type is an object with the following properties:
- quaternions
tag:stsci.edu:asdf/core/ndarray-1.* Required wx_shape: [’…’, 4] - This type is an object with the following properties:
- matrix
tag:stsci.edu:asdf/core/ndarray-1.* Required wx_shape: [’…’, 3, 3] - This type is an object with the following properties:
- rotvec
tag:stsci.edu:asdf/core/ndarray-1.* Required wx_shape: [’…’, 3] - This type is an object with the following properties:
- sequence
string Required Euler angles rotation sequence.No length restriction - angles
asdf://weldx.bam.de/weldx/tags/units/quantity-0.1.* Required Rotation angles data.wx_unit: degree
Examples ¶
A “xyz” euler rotation with 10, 20 and 60 degree angles as euler representation.:
!<asdf://weldx.bam.de/weldx/tags/core/transformations/rotation-0.1.0> angles: !<asdf://weldx.bam.de/weldx/tags/units/quantity-0.1.0> units: !<asdf://weldx.bam.de/weldx/tags/units/units-0.1.0> degree value: !core/ndarray-1.0.0 data: [10.0, 20.0, 60.0] datatype: float64 shape: [3] sequence: xyz
The quaternion rotation representation:
!<asdf://weldx.bam.de/weldx/tags/core/transformations/rotation-0.1.0> quaternions: !core/ndarray-1.0.0 data: [-0.012161306594124677, 0.19272730326230897, 0.4774233251326969, 0.8571903276509837] datatype: float64 shape: [4]
The matrix rotation representation.:
!<asdf://weldx.bam.de/weldx/tags/core/transformations/rotation-0.1.0> matrix: !core/ndarray-1.0.0 data: - [0.46984631039295427, -0.8231729446455007, 0.3187957775971679] - [0.8137976813493737, 0.5438381424823258, 0.20487412870286204] - [-0.3420201433256686, 0.16317591116653485, 0.9254165783983233] datatype: float64 shape: [3, 3]
The rotation vector representation.:
!<asdf://weldx.bam.de/weldx/tags/core/transformations/rotation-0.1.0> rotvec: !core/ndarray-1.0.0 data: [-0.02555091083053722, 0.404920154109444, 1.0030666289407963] datatype: float64 shape: [3]
Original Schema ¶
%YAML 1.1 --- $schema: "http://stsci.edu/schemas/yaml-schema/draft-01" id: "asdf://weldx.bam.de/weldx/schemas/core/transformations/rotation-0.1.0" title: | Schema to describe a 3D rotation. description: | ASDF implementation for Scipy.Rotation class. examples: - - A "xyz" euler rotation with 10, 20 and 60 degree angles as euler representation. - | !<asdf://weldx.bam.de/weldx/tags/core/transformations/rotation-0.1.0> angles: !<asdf://weldx.bam.de/weldx/tags/units/quantity-0.1.0> units: !<asdf://weldx.bam.de/weldx/tags/units/units-0.1.0> degree value: !core/ndarray-1.0.0 data: [10.0, 20.0, 60.0] datatype: float64 shape: [3] sequence: xyz - - The quaternion rotation representation - | !<asdf://weldx.bam.de/weldx/tags/core/transformations/rotation-0.1.0> quaternions: !core/ndarray-1.0.0 data: [-0.012161306594124677, 0.19272730326230897, 0.4774233251326969, 0.8571903276509837] datatype: float64 shape: [4] - - The matrix rotation representation. - | !<asdf://weldx.bam.de/weldx/tags/core/transformations/rotation-0.1.0> matrix: !core/ndarray-1.0.0 data: - [0.46984631039295427, -0.8231729446455007, 0.3187957775971679] - [0.8137976813493737, 0.5438381424823258, 0.20487412870286204] - [-0.3420201433256686, 0.16317591116653485, 0.9254165783983233] datatype: float64 shape: [3, 3] - - The rotation vector representation. - | !<asdf://weldx.bam.de/weldx/tags/core/transformations/rotation-0.1.0> rotvec: !core/ndarray-1.0.0 data: [-0.02555091083053722, 0.404920154109444, 1.0030666289407963] datatype: float64 shape: [3] oneOf: - type: object description: | Quaternion rotation representation. properties: quaternions: tag: "tag:stsci.edu:asdf/core/ndarray-1.*" wx_shape: [...,4] required: [quaternions] flowStyle: block additionalProperties: false - type: object description: | Matrix rotation representation. properties: matrix: tag: "tag:stsci.edu:asdf/core/ndarray-1.*" wx_shape: [...,3,3] required: [matrix] flowStyle: block additionalProperties: false - type: object description: | Rotation vector representation. properties: rotvec: tag: "tag:stsci.edu:asdf/core/ndarray-1.*" wx_shape: [...,3] required: [rotvec] flowStyle: block additionalProperties: false - type: object description: | Euler angles representation. properties: sequence: description: | Euler angles rotation sequence. type: string # TODO: add enum or regex angles: description: | Rotation angles data. tag: "asdf://weldx.bam.de/weldx/tags/units/quantity-0.1.*" wx_unit: "degree" required: [sequence, angles] flowStyle: block additionalProperties: false ...