Frame

A reference frame is a set of three orthonormal basis vectors which are rotated relative to the inertial frame, or some intermediate frame.

Keyword Arguments

param str ref_point_key

Name of the point where the frame will be centered, for visualization in the diagram.

param str ref_frame_key

Name of the reference frame from which the relative orientation angles are measured.

param str rotation_sequence

Euler angle sequence, for example, ‘ZYX’ corresponds to a yaw-pitch-roll sequence, where the first_angle is a rotation about the Z-axis of the original reference frame, the second_angle is a rotation about the Y’-axis of an intermediate frame, and the third_angle is a rotation about the X’’-axis of a second intermediate frame.

param first_angle

First rotation angle (i.e. yaw rotation in the ‘ZYX’ example).

type first_angle

str or numeric

param second_angle

Second rotation angle (i.e. pitch rotation in the ‘ZYX’ example).

type second_angle

str or numeric

param third_angle

Third rotation angle (i.e. roll rotation in the ‘ZYX’ example.

type third_angle

str or numeric

return str

Message about the created frame

Message describing the created frame.