py3dframe.Frame.set_global_rotation_matrix#

Frame.set_global_rotation_matrix(rotation_matrix, *, convention=None)[source]#

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

Parameters:

  • rotation_matrix (numpy.ndarray) – The rotation matrix between the global frame and this frame in the given convention with shape (3, 3).

  • 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 matrix between the global frame and the person frame in the convention 4, you can set this rotation with the set_global_rotation_matrix() method:

import numpy

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

person.set_global_rotation_matrix(rotation_matrix, convention=4) # Set the rotation matrix 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)