Basic

Reference for the gtFrame.basic module.

The gtFrame.basic module implements basic Frames. These do not account for any dynamics and just convert a static position and rotation into another.

Module Contents

Variables:

origin2d

Classes:

RootFrame2d
Frame2d
RootFrame3d
Frame3d

class gtFrame.basic.Frame2d(position, rotation, parent_frame=<gtFrame.basic.RootFrame2d object>)

The frame 2d class represents a static 2d-frame.

Parameters:

position (np.ndarray) – the relative position to the parent frame of reference
rotation (gtFrame.rotation.Rotation2d) – the relative rotation to the parent frame of reference
parent_frame (gtFrame.basic.Frame2d) – The parent frame of reference. The default value for this is gtFrame.basic.origin2d.

find_transform_path(frame)

Finds the reference path from this frame of reference to the given frame of reference. This is mainly used for the .transform_from and .transform_to methods. (This method is identical to Frame3d.find_transform_path().)

Parameters:: frame (Frame2d) – the destination frame of reference
Returns:: the path as a list with the first step on [0] and the last at [-1]
Return type:: list

find_transform_path_legacy(frame)

[LEGACY METHOD] This is same as find_transform_path but without the optimization.

Finds the reference path from this frame of reference to the given frame of reference. This is mainly used for the .transform_from and .transform_to methods. (This method is identical to Frame3d.find_transform_path().)

Parameters:: frame (Frame2d) – the destination frame of reference
Returns:: the path as a list with the first step on [0] and the last at [-1]
Return type:: list

parent()

Returns the parent frame.

Returns:: parent frame
Return type:: Frame2d

static rotate_via_path(vector, path)

This function rotates a vector according to a given transform path. The function works like gtFrame.basic.Frame2d.transform_via_path(), except that it only rotates the vectors and does not translate them.

Parameters:

vector (np.ndarray) – the vector to be rotated
path (list) – the transform path given by gtFrame.basic.Frame2d.find_transform_path()

Returns:

the rotated vector as a numpy array

Return type:

np.ndarray

transform_from(frame, vector)

Transform a vector expressed in an arbitrary frame of reference into this frame.

Parameters:

frame (Frame2d) – the frame of reference, in which the vector is defined
vector (np.ndarray) – the vector to be transformed

Returns:

the transformed vector

Return type:

np.ndarray

transform_from_parent(vector)

Transform a vector, expressed in the parent frame, into this frame.

Parameters:: vector (np.ndarray) – vector expressed in parent frame
Returns:: the vector expressed in this frame of reference
Return type:: np.ndarray

transform_to(frame, vector)

Transform a vector expressed in this frame of reference into a given frame of reference.

Parameters:

frame (Frame2d) – the frame to which to transform to
vector (np.ndarray) – the vector to be transformed

Returns:

the transformed vector

Return type:

np.ndarray

transform_to_parent(vector)

Return the given vector expressed in the parent frame of reference.

Returns:: the vector in the parent frame of reference
Return type:: np.ndarray

static transform_via_path(vector, path)

Transforms a vector according to a given transform path.

Parameters:

vector (np.ndarray) – the vector to be transformed
path (list) – the path for the transformation, as returned by gtFrame.basic.Frame2d.find_transform_path()

Returns:

the final vector after the transformations

Return type:

np.ndarray

class gtFrame.basic.Frame3d(position, rotation, parent_frame=<gtFrame.basic.RootFrame3d object>)

The Frame3d class represents a static 3d-frame.

Parameters:

position (np.ndarray) – the relative position to the parent frame of reference
rotation (gtFrame.rotation.Rotation3d) – the relative rotation to the parent frame of reference
parent_frame (gtFrame.basic.Frame3d) – The parent frame of reference. The default value for this is gtFrame.basic.origin3d.

find_transform_path(frame)

Finds the reference path from this frame of reference to the given frame of reference. This is mainly used for the .transform_from and .transform_to methods. (This method is identical to Frame2d.find_transform_path().)

Parameters:: frame (Frame3d) – the destination frame of reference
Returns:: the path as a list with the first step on [0] and the last at [-1]
Return type:: list

find_transform_path_legacy(frame)

[LEGACY METHOD] This is same as find_transform_path but without the optimization.

Finds the reference path from this frame of reference to the given frame of reference. This is mainly used for the .transform_from and .transform_to methods. (This method is identical to Frame2d.find_transform_path().)

Parameters:: frame (Frame3d) – the destination frame of reference
Returns:: the path as a list with the first step on [0] and the last at [-1]
Return type:: list

parent()

Return the parent frame.

Returns:: the parent frame
Return type:: Frame3d

static rotate_via_path(vector, path)

This function rotates a vector according to a given transform path. The function works like gtFrame.basic.Frame3d.transform_via_path(), except that it only rotates the vectors and does not translate them.

Parameters:

vector (np.ndarray) – the vector to be rotated
path (list) – the transform path given by gtFrame.basic.Frame3d.find_transform_path()

Returns:

the rotated vector as a numpy array

Return type:

np.ndarray

transform_from(frame, vector)

Transform a vector expressed in an arbitrary frame of reference into this frame.

Parameters:

frame (Frame3d) – the frame of reference, in which the vector is defined
vector (np.ndarray) – the vector to be transformed

Returns:

the transformed vector

Return type:

np.ndarray

transform_from_parent(vector)

Transform a vector given in the parent frame of reference into this frame.

Parameters:: vector (np.ndarray) – the vector to be transformed
Returns:: the transformed vector
Return type:: np.ndarray

transform_to(frame, vector)

Transform a vector expressed in this frame of reference into a given frame of reference.

Parameters:

frame (Frame3d) – the frame to which to transform to
vector (np.ndarray) – the vector to be transformed

Returns:

the transformed vector

Return type:

np.ndarray

transform_to_parent(vector)

Transform a vector given in this frame of reference into the parent frame.

Parameters:: vector (np.ndarray) – the vector to be transformed
Returns:: the transformed vector
Return type:: np.ndarray

static transform_via_path(vector, path)

Transforms a vector according to a given transform path.

Parameters:

vector (np.ndarray) – the vector to be transformed
path (list) – the path for the transformation, as returned by gtFrame.basic.Frame3d.find_transform_path()

Returns:

the final vector after the transformations

Return type:

np.ndarray

class gtFrame.basic.RootFrame2d

The RootFrame2d is the origin of the 2d-system and has a position vector of [0, 0] and a rotation of 0.

find_transform_path(frame)

Finds the transform path from this frame of reference to the given frame.

Parameters:: frame (Frame2d) – the frame of reference to find a transform path to
Returns:: the transform path in a format that can be interpreted by Frame2d.transform_via_path().

parent()

Returns the parent of the Frame. For RootFrame2d this is self.

Returns:: self
Return type:: RootFrame2d

transform_from(frame, vector): Transform a vector expressed in an arbitrary frame of reference into this frame. :param frame: the frame of reference, in which the vector is defined :type frame: Frame2d :param vector: the vector to be transformed :type vector: np.ndarray :return: the transformed vector :rtype: np.ndarray

transform_to(frame, vector): Transform a vector expressed in this frame of reference into a given frame of reference. :param frame: the frame to which to transform to :type frame: Frame2d :param vector: the vector to be transformed :type vector: np.ndarray :return: the transformed vector :rtype: np.ndarray

class gtFrame.basic.RootFrame3d

The RootFrame3d is the origin of the 3d-system and has a position vector of [0, 0, 0] and a rotation of 0.

find_transform_path(frame)

Finds the transform path from this frame of reference to the given frame.

Parameters:: frame (Frame3d) – the frame of reference to find a transform path to
Returns:: the transform path in a format that can be interpreted by Frame3d.transform_via_path().

parent()

Returns the parent of the Frame. For RootFrame3d this is self.

Returns:: self
Return type:: RootFrame3d

transform_from(frame, vector): Transform a vector expressed in an arbitrary frame of reference into this frame. :param frame: the frame of reference, in which the vector is defined :type frame: Frame3d :param vector: the vector to be transformed :type vector: np.ndarray :return: the transformed vector :rtype: np.ndarray

transform_to(frame, vector): Transform a vector expressed in this frame of reference into a given frame of reference. :param frame: the frame to which to transform to :type frame: Frame3d :param vector: the vector to be transformed :type vector: np.ndarray :return: the transformed vector :rtype: np.ndarray