py3dframe.Frame.get_rotation_matrix

Frame.get_rotation_matrix(*, convention=None)

Access the rotation matrix between the parent frame and this frame in a specific convention.

The rotation matrix is returned as a numpy array with shape (3, 3).

See also

• attribute parent to get or set the parent frame.

• attribute convention to get or set the convention of the frame.

• attribute rotation_matrix to get or set the rotation matrix in the convention of the frame.

• method set_rotation_matrix() to set the rotation matrix in a specific convention.

• method get_global_rotation_matrix() to get the rotation matrix between the global frame and this frame.

Parameters:

convention (Optional[int], optional) – Integer in [0, 7] selecting the convention. Defaults to the frame’s own convention.

Returns:

The rotation matrix between the parent frame and this frame in the given convention with shape (3, 3).

Return type:

numpy.ndarray

Examples

Lets create a frame from its axes and origin with the default convention 0.

import numpy
from py3dframe import Frame

origin = numpy.array([-1, -2, -3])
x_axis = numpy.array([1, 1, 0]) / numpy.sqrt(2)
y_axis = numpy.array([-1, 1, 0]) / numpy.sqrt(2)
z_axis = numpy.array([0, 0, 1])

parent = ... # Define the parent frame if needed, otherwise parent=None to use the canonical frame.

frame = Frame.from_axes(origin=origin, x_axis=x_axis, y_axis=y_axis, z_axis=z_axis, convention=0, parent=parent)

If an application using an other convention required the rotation matrix in the convention 4, you can access the rotation matrix in this convention with the get_rotation_matrix() method.

rotation_matrix_convention_4 = frame.get_rotation_matrix(convention=4)