py3dframe.Frame.set_rotation_vector

Frame.set_rotation_vector(rotation_vector, *, convention=None, degrees=False)

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

The rotation vector describes the rotation by a single rotation about a fixed axis. The direction of the axis is given by the direction of the vector, and the magnitude of the vector is given by the angle of rotation.

See also

• attribute parent to get or set the parent frame.

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

• attribute rotation_vector to get or set the rotation vector in the convention of the frame.

• method get_rotation_vector() to get the rotation vector in a specific convention.

• method set_global_rotation_vector() to set the rotation vector between the global frame and this frame.

Parameters:

• rotation_vector (numpy.ndarray) – The rotation vector 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 rotation vector is in degrees. Default is False (radians).

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 rotation vector between the parent frame and this frame in convention 4 in degrees can be extracted from the application.

import numpy

rotation_vector = numpy.array(...) # Extract the rotation vector from the application.

frame.set_rotation_vector(rotation_vector, convention=4, degrees=True) # Set the rotation vector in convention 4 in degrees.