simulation.utils.geometry.frame module

Coordinate frame class that can be connected to other frames.

The idea of this class is to provide a simple API of dealing with geometric objects in multiple coordinate frames easily.

Summary

Classes:

Frame

Functions:

validate_and_maintain_frames

Ensure that both objects are in the same coordinate frame.

Reference

class Frame(name: str)

Bases: object

name: str

Name of the frame.

_connected_frames: Dict[str, Transform]

Dictionary with other connected frames.

connect_to(frame: simulation.utils.geometry.frame.Frame, *, transformation_to_frame: Transform)

Connect this frame to another frame through a transformation.

This also connects the other frame to this one.

validate_and_maintain_frames(func)

Ensure that both objects are in the same coordinate frame.