server.spatial_object.CartesianFrame

class documentation

class CartesianFrame(UaObject, ParentMixin[UaObject]):

Known subclasses: server.spatial_object.PositionFrame, server.spatial_object.WorldFrame

Constructor: CartesianFrame(name, position, orientation, base, ...)

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Describes the translation and rotation of an object relative to a base coordinate frame.

The position is represented by the Cartesian coordinates X, Y, and Z. The orientation is represented by the angles A, B, and C, corresponding to roll, pitch, and yaw respectively.

See also CartesianFrameAngleOrientationType from OPC UA Part 210: Relative Spacial Location specification. https://reference.opcfoundation.org/specs/OPC-10000-210/7.3

Method __init__ Initialize a Cartesian frame with position and orientation.
Async Method lifecycle_frame Initialize the Cartesian frame.
Async Method read_base Read the base coordinate frame reference from the OPC UA server.
Async Method read_orientation Read the angular orientation from the OPC UA server.
Async Method read_position Read the Cartesian position from the OPC UA server.
Async Method write_base Write the base coordinate frame reference to the OPC UA server.
Async Method write_orientation Write given angular orientation to the OPC UA server.
Async Method write_position Write the given Cartesian position to the OPC UA server.
Async Method _get_definition Undocumented
Instance Variable _base Undocumented
Instance Variable _name Undocumented
Instance Variable _orientation Undocumented
Instance Variable _position Undocumented
Instance Variable _ua_base Undocumented
Instance Variable _ua_orientation Undocumented
Instance Variable _ua_orientation_a Undocumented
Instance Variable _ua_orientation_b Undocumented
Instance Variable _ua_orientation_c Undocumented
Instance Variable _ua_position Undocumented
Instance Variable _ua_position_x Undocumented
Instance Variable _ua_position_y Undocumented
Instance Variable _ua_position_z Undocumented
def __init__(self, *, name: str, position: Position, orientation: Orientation, base: CartesianFrame | None, **kwargs):
overridden in server.spatial_object.PositionFrame, server.spatial_object.WorldFrame

Initialize a Cartesian frame with position and orientation.

Parameters
name:strName of the frame.
position:PositionTranslation of the frame relative to the base frame, represented by X, Y, and Z.
orientation:OrientationOrientation of the frame relative to the base frame, represented by A (roll about X), B (pitch about Y), and C (yaw about Z).
base:CartesianFrame | NoneOptional Node ID of the base frame relative to which this frame is specified.
**kwargsUndocumented
@lifecycle
async def lifecycle_frame(self) -> AsyncGenerator[None]:

Initialize the Cartesian frame.

async def read_base(self) -> CartesianFrame | None:

Read the base coordinate frame reference from the OPC UA server.

async def read_orientation(self) -> Orientation:

Read the angular orientation from the OPC UA server.

async def read_position(self) -> Position:

Read the Cartesian position from the OPC UA server.

async def write_base(self, base: CartesianFrame | None):

Write the base coordinate frame reference to the OPC UA server.

async def write_orientation(self, orientation: Orientation):

Write given angular orientation to the OPC UA server.

async def write_position(self, position: Position):

Write the given Cartesian position to the OPC UA server.

@override
async def _get_definition(self) -> UaObjectDefinition:

Undocumented

_base: CartesianFrame | None =

Undocumented

_name =

Undocumented

_orientation: Orientation =

Undocumented

_position: Position =

Undocumented

_ua_base: Node =

Undocumented

_ua_orientation: Node =

Undocumented

_ua_orientation_a: Node =

Undocumented

_ua_orientation_b: Node =

Undocumented

_ua_orientation_c: Node =

Undocumented

_ua_position: Node =

Undocumented

_ua_position_x: Node =

Undocumented

_ua_position_y: Node =

Undocumented

_ua_position_z: Node =

Undocumented