py3dframe.Frame.set_euler_angles#

Frame.set_euler_angles(euler_angles, *, convention=None, degrees=False, seq='xyz')[source]#

Set the Euler angles representation of the rotation between the parent frame and this frame in a specific convention.

The Euler angles describe the rotation using three elementary rotations about specified axes.

See also

  • attribute parent to get or set the parent frame.

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

  • attribute euler_angles to get or set the Euler angles in the convention of the frame.

  • method get_euler_angles() to get the Euler angles in a specific convention.

  • method set_global_euler_angles() to set the Euler angles between the global frame and this frame.

Parameters:

  • euler_angles (numpy.ndarray) – The Euler angles between the parent frame and this frame in the given convention as an array-like with 3 elements.

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

  • degrees (bool, optional) – If True, the Euler angles are in degrees. Default is False (radians).

  • seq (str, optional) – The axes of the Euler angles. Default is “xyz”. It must be a string of 3 characters chosen among ‘X’, ‘Y’, ‘Z’, ‘x’, ‘y’, ‘z’.

Return type:

None

Examples

Lets create a default frame with convention 0.

from py3dframe import Frame

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

frame = Frame.canonical(convention=0, parent=parent)

Lets assume, an application uses convention 4 to represent the transformation between two frames. The frame of reference of the application rotates and the new Euler angles between the parent frame and this frame in convention 4 with ‘ZYX’ sequence in degrees can be extracted from the application.

import numpy

euler_angles = numpy.array(...) # Extract the Euler angles from the application.

frame.set_euler_angles(euler_angles, convention=4, degrees=True, seq='ZYX') # Set the Euler angles in convention 4 with 'ZYX' sequence in degrees.
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