Plot with Respect to Different Reference Frames

In this example, we will demonstrate how to use the TransformManager. We will add several transforms to the manager and plot all frames in two reference frames (‘world’ and ‘A’).

import matplotlib.pyplot as plt
import numpy as np

from pytransform3d.plot_utils import make_3d_axis
from pytransform3d.transform_manager import TransformManager
from pytransform3d.transformations import random_transform

rng = np.random.default_rng(5)
A2world = random_transform(rng)
B2world = random_transform(rng)
A2C = random_transform(rng)
D2B = random_transform(rng)

tm = TransformManager()
tm.add_transform("A", "world", A2world)
tm.add_transform("B", "world", B2world)
tm.add_transform("A", "C", A2C)
tm.add_transform("D", "B", D2B)

plt.figure(figsize=(10, 5))

ax = make_3d_axis(2, 121)
ax = tm.plot_frames_in("world", ax=ax, alpha=0.6)
ax.view_init(30, 20)

ax = make_3d_axis(3, 122)
ax = tm.plot_frames_in("A", ax=ax, alpha=0.6)
ax.view_init(30, 20)

plt.show()