py3dframe.Frame.set_global_translation#

Frame.set_global_translation(translation, *, convention=None)[source]#

Set the translation vector between the global frame and this frame in the given convention.

The translation vector must be a array-like with 3 elements.

See also

  • attribute parent to get or set the parent frame.

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

  • attribute global_translation to get or set the translation vector between the global frame and this frame in the convention of the frame.

  • method get_global_translation() to get the translation vector between the global frame and this frame in a specific convention.

  • method set_translation() to set the translation vector between the parent frame and this frame in a specific convention.

Parameters:

  • translation (numpy.ndarray) – The translation vector between the global 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.

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 translation between the global frame and the person frame in the convention 4, you can set this translation with the set_global_translation() method:

import numpy

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

person.set_global_translation(translation, convention=4) # Set the translation 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)