py3dframe.Frame.set_global_rotation#

Frame.set_global_rotation(rotation, *, convention=None)[source]#

Set the rotation between the global frame and this frame in the given convention.

The rotation must be given as a Rotation object.

See also

attribute parent to get or set the parent frame.
attribute convention to get or set the convention of the frame.
attribute global_rotation to get or set the rotation between the global frame and this frame in the convention of the frame.
method get_global_rotation() to get the rotation between the global frame and this frame in a specific convention.
method set_rotation() to set the rotation between the parent frame and this frame in a specific convention.

Parameters:

rotation (Rotation) – The rotation between the global frame and this frame in the given convention.
convention (Optional[int], optional) – Integer in [0, 7] selecting the convention. Defaults to the frame’s own convention.

Return type:

None

Examples

Lets consider a train and a person standing into the train.

First we can define the train frame relative to the global frame (the canonical frame) and then we can define the person frame relative to the train frame.

from py3dframe import Frame

train = Frame.from_axes(origin=[0, 0, 0], x_axis=[1, 0, 0], y_axis=[0, 1, 0], z_axis=[0, 0, 1], parent=None)
person = Frame.from_axes(origin=[0, 1, 0], x_axis=[1, 0, 0], y_axis=[0, 1, 0], z_axis=[0, 0, 1], parent=train)

Lets assume the train moves.

train.set_translation([10, 0, 0], convention=0) # The train moves of 10 units along the x axis of the global frame.

If an application using an other convention gives the new rotation between the global frame and the person frame in the convention 4, you can set this rotation with the set_global_rotation() method:

import numpy

rotation = ... # Get the new rotation between the global frame and the person frame in convention 4 from the application.

person.set_global_rotation(rotation, convention=4) # Set the rotation between the global frame and the person frame in convention 4.

The person frame is updated accordingly to keep the correct transformation between the global frame and the person frame.

Then we can determine the new orientation and position of the person relative to the train frame:

print("Person origin in the train frame:", person.origin)
print("Person axes in the train frame:", person.axes)

py3dframe.Frame.set_global_rotation#

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