rigid_body_motion.register_frame¶

rigid_body_motion.register_frame(name, parent=None, translation=None, rotation=None, timestamps=None, inverse=False, discrete=False, update=False)[source]¶

Register a new reference frame in the registry.

Parameters

name: str: The name of the reference frame.
parent: str or ReferenceFrame, optional: The parent reference frame. If str, the frame will be looked up in the registry under that name. If not specified, this frame will be a root node of a new reference frame tree.
translation: array_like, optional: The translation of this frame wrt the parent frame. Not applicable if there is no parent frame.
rotation: array_like, optional: The rotation of this frame wrt the parent frame. Not applicable if there is no parent frame.
timestamps: array_like, optional: The timestamps for translation and rotation of this frame. Not applicable if this is a static reference frame.
inverse: bool, default False: If True, invert the transform wrt the parent frame, i.e. the translation and rotation are specified for the parent frame wrt this frame.
discrete: bool, default False: If True, transformations with timestamps are assumed to be events. Instead of interpolating between timestamps, transformations are fixed between their timestamp and the next one.
update: bool, default False: If True, overwrite if there is a frame with the same name in the registry.