server.spatial_object.WorldFrame

class documentation

class WorldFrame(CartesianFrame):

Constructor: WorldFrame(initial_pose, minimum_access_level, bypass_lock, **kwargs)

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Root Cartesian frame with the fixed OPC UA name WorldFrame.

The world frame defines a Cartesian frame without a base coordinate frame.

Method __init__ Cooperative constructor.

Inherited from CartesianFrame:

Async Method lifecycle_frame Initialize the Cartesian frame.
Async Method on_value_change Handle OPC UA data change notification to keep children in sync.
Async Method read_base Read the base coordinate frame reference from the OPC UA server.
Async Method read_base_node_id Read the UA node ID of the base coordinate frame.
Async Method read_orientation Read the angular orientation from the OPC UA server.
Async Method read_pose Read the current pose of this frame relative to its base.
Async Method read_position Read the Cartesian position from the OPC UA server.
Async Method update_pose Replace position and/or orientation, keeping the rest. Returns the new pose.
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. Keeps the current position of the frame.
Async Method write_pose Replace the pose of this frame.
Async Method write_position Write the given Cartesian position to the OPC UA server. Keeps the current orientation of the frame.
Async Method _get_definition Undocumented
Async Method _read_pose Undocumented
Async Method _sync_children Undocumented
Async Method _write_pose_locked Undocumented
Instance Variable _angle_unit Undocumented
Instance Variable _datachange_callback_handle Undocumented
Instance Variable _frame_lock Undocumented
Instance Variable _initial_base Undocumented
Instance Variable _initial_pose Undocumented
Instance Variable _length_unit 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, *, initial_pose: Pose, minimum_access_level: int | None = None, bypass_lock: bool = False, **kwargs): ΒΆ
overrides server.spatial_object.CartesianFrame.__init__

Cooperative constructor.