Frame

class pyCGM2.Model.frame.Frame

Represents a coordinate system at a specific time, including rotation matrix and translation vectors.

__init__()

Methods

__init__()
addNode(nodeLabel, position[, positionType, ...])	Appends a Node to the Frame.
constructFromAnglesAxis(angleAxisValues)	Constructs the frame from angle-axis values.
constructFromQuaternion(quaternionValues)	Constructs the frame from quaternion values.
copyNode(nodeLabel, nodeToCopy)	Copies the values of one node to another, either creating a new node or updating an existing one.
eraseNodes()	Erases all nodes from the frame.
getAngleAxis()	Returns the angle-axis representation of the frame's rotation.
getGlobalPosition(nodeLabel)	Returns the global position of a node.
getNodeIndex(nodeLabel)	Retrieves the index of a node in the frame based on its label.
getNodeLabels([display])	Returns the labels of all nodes in the frame.
getNode_byIndex(index)	Returns a Node by its index.
getNode_byLabel(label)	Returns a Node by its label.
getNodes()	Retrieves all Node instances from the frame.
getQuaternion()	Returns the quaternion representation of the frame's rotation.
getRotation()	Returns the rotation matrix of the frame.
getTranslation()	Returns the translation vector of the frame.
isNodeExist(nodeLabel)	Checks if a node exists in the frame based on its label.
setAxes(x, y, z)	Sets the axes of the frame.
setRotation(R)	Sets the rotation matrix for the frame.
setTranslation(t)	Sets the translation vector for the frame.
update(R, t)	Updates both the rotation matrix and translation vector of the frame.
updateAxisFromRotation(R)	Updates the axes of the frame based on a new rotation matrix.
updateNode(nodeLabel, localArray, globalArray)	Updates a node's local and global position and description.

addNode(nodeLabel: str, position: ndarray, positionType: str = 'Global', desc: str = '') → None

Appends a Node to the Frame.

Parameters:

• nodeLabel (str) – The label of the node.

• position (np.ndarray) – The position of the node.

• positionType (str, optional) – Specifies if the position is global or local. Defaults to “Global”.

• desc (str, optional) – Description of the node.

constructFromAnglesAxis(angleAxisValues: ndarray) → None

Constructs the frame from angle-axis values.

Parameters:

angleAxisValues (np.ndarray) – An array representing the angle-axis values.

constructFromQuaternion(quaternionValues: ndarray) → None

Constructs the frame from quaternion values.

Parameters:

quaternionValues (np.ndarray) – An array representing the quaternion values.

copyNode(nodeLabel: str, nodeToCopy: str) → None

Copies the values of one node to another, either creating a new node or updating an existing one.

Parameters:

• nodeLabel (str) – The label of the node where the values are to be copied.

• nodeToCopy (str) – The label of the node from which to copy the values.

eraseNodes() → None

Erases all nodes from the frame.

getAngleAxis() → ndarray

Returns the angle-axis representation of the frame’s rotation.

Returns:

np.ndarray – The angle-axis representation.

getGlobalPosition(nodeLabel: str) → ndarray

Returns the global position of a node.

Parameters:

nodeLabel (str) – The label of the node.

Returns:

np.ndarray – The global position of the node.

getNodeIndex(nodeLabel: str) → int

Retrieves the index of a node in the frame based on its label.

Parameters:

nodeLabel (str) – The label of the node.

Returns:

int – The index of the node in the frame’s node list.

getNodeLabels(display: bool = True) → List[str]

Returns the labels of all nodes in the frame.

Parameters:

display (bool, optional) – If True, prints the node labels. Defaults to True.

Returns:

List[str] – A list of node labels.

getNode_byIndex(index: int) → Node

Returns a Node by its index.

Parameters:

index (int) – The index of the node in the frame’s node collection.

Returns:

Node – The Node instance at the specified index.

getNode_byLabel(label: str) → Node

Returns a Node by its label.

Parameters:

label (str) – The label of the node.

Returns:

Node – The Node instance with the specified label.

getNodes()

Retrieves all Node instances from the frame.

Returns:

List[Node] – A list of Node instance

getQuaternion() → ndarray

Returns the quaternion representation of the frame’s rotation.

Returns:

np.ndarray – The quaternion representation.

getRotation() → ndarray

Returns the rotation matrix of the frame.

Returns:

np.ndarray – The rotation matrix.

getTranslation() → ndarray

Returns the translation vector of the frame.

Returns:

np.ndarray – The translation vector.

isNodeExist(nodeLabel: str) → bool

Checks if a node exists in the frame based on its label.

Parameters:

nodeLabel (str) – The label of the node to check.

Returns:

bool – True if the node exists, False otherwise.

setAxes(x: ndarray, y: ndarray, z: ndarray) → None

Sets the axes of the frame.

Parameters:

• x (np.ndarray) – The x-axis of the frame.

• y (np.ndarray) – The y-axis of the frame.

• z (np.ndarray) – The z-axis of the frame.

setRotation(R: ndarray) → None

Sets the rotation matrix for the frame.

Parameters:

R (np.ndarray) – A 3x3 rotation matrix.

setTranslation(t: ndarray) → None

Sets the translation vector for the frame.

Parameters:

t (np.ndarray) – A translation vector.

update(R: ndarray, t: ndarray) → None

Updates both the rotation matrix and translation vector of the frame.

Parameters:

• R (np.ndarray) – A 3x3 rotation matrix.

• t (np.ndarray) – A translation vector.

updateAxisFromRotation(R: ndarray) → None

Updates the axes of the frame based on a new rotation matrix.

Parameters:

R (np.ndarray) – A 3x3 rotation matrix.

updateNode(nodeLabel: str, localArray: ndarray, globalArray: ndarray, desc: str = '') → None

Updates a node’s local and global position and description.

Parameters:

• nodeLabel (str) – The label of the node to update.

• localArray (np.ndarray) – The local position of the node.

• globalArray (np.ndarray) – The global position of the node.

• desc (str, optional) – The description of the node. Defaults to an empty string.