cgse-coordinates 0.17.3__py3-none-any.whl → 0.17.4__py3-none-any.whl

egse/coordinates/referenceFrame.py

@@ -1,1251 +0,0 @@
-"""
-The referenceFrames module provides the class :code:`ReferenceFrames` which defines the affine transformation
-for bringing one reference frame to another.
-
-.. todo:: The tests in methods like getPassiveTransformationTo using '==' should be looked at again and maybe
-          changed into using the 'is' operator. This because we now have __eq__ implemented.
-
-@author: Pierre Royer
-"""
-
-import logging
-import random
-import string
-import textwrap
-
-import numpy as np
-import transforms3d as t3
-
-import egse.coordinates.transform3d_addon as t3add
-from egse.coordinates.point import Point
-from egse.coordinates.rotationMatrix import RotationMatrix
-from egse.decorators import deprecate
-from egse.exceptions import InvalidOperationError
-
-LOGGER = logging.getLogger(__name__)
-DEBUG = False
-
-
-def transformationToString(transformation):
-    """Helper function: prints out a transformation (numpy ndarray) in a condensed form on one line."""
-
-    if isinstance(transformation, np.ndarray):
-        if np.allclose(transformation, ReferenceFrame._I):
-            return "Identity"
-        msg = np.array2string(
-            transformation,
-            separator=",",
-            suppress_small=True,
-            formatter={"float_kind": lambda x: "%.2f" % x},
-        ).replace("\n", "")
-        return msg
-
-    # We do not want to raise an Exception here since this is mainly used in logging messages
-    # and doesn't really harm the execution of the program.
-    return f"ERROR: expected transformation to be an ndarray, type={type(transformation)}"
-
-
-class ReferenceFrame(object):
-    """
-    A Reference Frame defined in reference frame "ref", i.e.
-    defined by the affine transformation bringing the reference frame "ref" onto "self".
-
-    By default, "ref" is the master refence frame, defined as the identity matrix.
-
-    :param transformation: 4x4 affine transformation matrix defining this system in "ref" system
-    :type transformation: numpy array
-
-    :param ref: reference system in which this new reference frame is defined
-    :type ref: ReferenceFrame
-
-    :param name: name the reference frame so it can be referenced, set to 'master' when None
-    :type name: str
-
-    :param rot_config:
-            * Is set when using creator ReferenceFrame.fromTranslationRotation()
-            * In other cases, is set to a default "szyx"
-              (rotations around static axes z, y and x in this order)
-              In these other cases, it has no real direct influence,
-              except for methods returning the rotation vector (e.g. getRotationVector)
-              It is therefore always recommended to pass it to the constructor, even when
-              constructing the ReferenceFrame directly from a transformation matrix
-    :type rot_config: str
-
-    Both the ``transformation`` and the ``ref`` parameters are mandatory.
-
-    If the reference frame is None, the master reference frame is created.
-
-    The master reference frame:
-
-        * is defined by the identity transformation matrix
-        * has itself as a reference
-
-    For convenience we provide the following factory methods:
-
-    createMaster()
-        Create a Master Reference Frame
-
-    createRotation(..)
-        Create a new Reference Frame that is rotated with respect to the given reference frame
-
-    createTranslation(..)
-        Create a new Reference Frame that is a translation with respect to the given reference frame
-    """
-
-    _I = np.identity(4)
-    _MASTER = None
-    _ROT_CONFIG_DEFAULT = "sxyz"
-    _names_used = [None, "Master"]
-    _strict_naming = False
-    _ACTIVE_DEFAULT = True
-
-    def __new__(cls, transformation, ref, name=None, rot_config=_ROT_CONFIG_DEFAULT):
-        """Create a new ReferenceFrame class."""
-
-        DEBUG and LOGGER.debug(
-            f"transformation={transformationToString(transformation)}, ref={ref!r}, name={name}, rot_config={rot_config}"
-        )
-
-        if ref is None:
-            msg = (
-                "No reference frame was given, if you planned to create a Master Reference Frame, "
-                "use ReferenceFrame.createMaster(). "
-            )
-            LOGGER.error(msg)
-            raise ValueError(msg, "REF_IS_NONE")
-
-        if not isinstance(ref, cls):
-            msg = f"The 'ref' keyword argument is not a ReferenceFrame object, but {type(ref)}"
-            LOGGER.error(msg)
-            raise ValueError(msg, "REF_IS_NOT_CLS")
-
-        if name == "Master":
-            msg = (
-                "The 'name' argument cannot be 'Master' unless a Master instance should be created, "
-                "in that case, use ReferenceFrame.createMaster()"
-            )
-            LOGGER.error(msg)
-            raise ValueError(msg, "MASTER_NAME_USED")
-
-        if transformation is None:
-            msg = "The 'transformation' argument can not be None, please provide a proper transformation for this reference frame."
-            LOGGER.error(msg)
-            raise ValueError(msg, "TRANSFORMATION_IS_NONE")
-
-        if not isinstance(transformation, np.ndarray):
-            msg = f"The 'transformation' argument shall be a Numpy ndarray [not a {type(transformation)}], please provide a proper transformation for this reference frame."
-            LOGGER.error(msg)
-            raise ValueError(msg, "TRANSFORMATION_IS_NOT_NDARRAY")
-
-        if rot_config is None:
-            msg = "The 'rot_config' keyword argument can not be None, do not specify it when you want to use the default value."
-            LOGGER.error(msg)
-            raise ValueError(msg)
-
-        _instance = super(ReferenceFrame, cls).__new__(cls)
-
-        return _instance
-
-    def __init__(self, transformation, ref, name=None, rot_config=_ROT_CONFIG_DEFAULT):
-        """Initialize the ReferenceFrame object"""
-
-        self.debug = False
-
-        DEBUG and LOGGER.debug(
-            f"transformation={transformationToString(transformation)}, ref={ref!r}, name={name}, rot_config={rot_config}"
-        )
-
-        # All argument testing is done in the __new__() method and we should be save here.
-
-        self.ref = ref
-        self.name = self.__createName(name)
-        self.transformation = transformation
-        self.rot_config = rot_config
-
-        self.definition = [self.transformation, self.ref, self.name]
-
-        self.x = self.getAxis("x")
-        self.y = self.getAxis("y")
-        self.z = self.getAxis("z")
-
-        self.linkedTo = {}
-        self.referenceFor = []
-
-        ref.referenceFor.append(self)
-
-        return
-
-    def find_master(self):
-        return self.findMaster()
-
-    def findMaster(self):
-        """
-        Returns the Master frame for this reference frame. The Master frame is always at the end
-        of the path following the references.
-
-        Returns:
-            The master frame.
-        """
-
-        frame = self
-        while not frame.isMaster():
-            frame = frame.ref
-        return frame
-
-    @classmethod
-    def createMaster(cls):
-        """
-        Create a master reference frame.
-
-        A master reference frame is defined with respect to itself and is initialised with the
-        identity matrix.
-
-        The master frame is automatically given the name "Master".
-        """
-        ref_master = super(ReferenceFrame, cls).__new__(cls)
-        ref_master.name = "Master"
-        ref_master.ref = ref_master
-        ref_master.transformation = cls._I
-        ref_master.rot_config = cls._ROT_CONFIG_DEFAULT
-        ref_master.initialized = True
-        ref_master.debug = False
-        ref_master.linkedTo = {}
-        ref_master.referenceFor = []
-
-        DEBUG and LOGGER.debug(
-            f"NEW MASTER CREATED: {id(ref_master)}, ref = {id(ref_master.ref)}, name = {ref_master.name}"
-        )
-
-        return ref_master
-
-    @classmethod
-    def __createName(cls, name: str = None):
-        if name is None:
-            while name in cls._names_used:
-                name = "F" + "".join(random.choices(string.ascii_uppercase, k=3))
-            return name
-
-        if cls._strict_naming:
-            # generate a unique name
-
-            old_name = name
-
-            while name in cls._names_used:
-                name = "F" + "".join(random.choices(string.ascii_uppercase, k=3))
-
-            LOGGER.warning(
-                f"name ('{old_name}') is already defined, since strict naming is applied, "
-                f"a new unique name was created: {name}"
-            )
-
-        else:
-            if name in cls._names_used:
-                DEBUG and LOGGER.warning(
-                    f"name ('{name}') is already defined, now you have more than one "
-                    f"ReferenceFrame with the same name.",
-                )
-
-        cls._names_used.append(name)
-        return name
-
-    @classmethod
-    def fromTranslation(cls, transx, transy, transz, ref, name=None):
-        """
-        Create a ReferenceFrame from a translation with respect to the given reference frame.
-
-        :param transx: translation along the x-axis
-        :type transx: float
-
-        :param transy: translation along the y-axis
-        :type transy: float
-
-        :param transz: translation along the z-axis
-        :type transz: float
-
-        :param ref: reference frame with respect to which the translation is performed. If no ref is given
-            the rotation is with respect to the master reference frame
-        :type ref: ReferenceFrame
-
-        :param name: a simple convenient name to identify the reference frame. If no name is provided
-                     a random name of four characters starting with 'F' will be generated.
-        :type name: str
-
-        :return: a reference frame
-        """
-        adef = np.identity(4)
-        adef[:3, 3] = [transx, transy, transz]
-
-        if ref is None:
-            raise ValueError("The ref argument can not be None, provide a master or another reference frame.")
-
-        return cls(transformation=adef, ref=ref, name=name)
-
-    @classmethod
-    def fromRotation(
-        cls,
-        rotx,
-        roty,
-        rotz,
-        ref,
-        name=None,
-        rot_config=_ROT_CONFIG_DEFAULT,
-        active=_ACTIVE_DEFAULT,
-        degrees=True,
-    ):
-        """
-        Create a ReferenceFrame from a rotation with respect to the given reference frame.
-
-        :param rotx: rotation around the x-axis
-        :type rotx: float
-
-        :param roty: rotation around the y-axis
-        :type roty: float
-
-        :param rotz: rotation around the z-axis
-        :type rotz: float
-
-        :param ref: reference frame with respect to which the rotation is performed. If no ref is given
-            the rotation is with respect to the master reference frame
-        :type ref: ReferenceFrame
-
-        :param name: a simple convenient name to identify the reference frame. If no name is provided
-                     a random name of four characters starting with 'F' will be generated.
-        :type name: str
-
-        :return: a reference frame
-        """
-        # Convention (rotating axes, in order xyz)
-
-        # rot_config = cls._ROT_CONFIG_DEFAULT
-
-        # Rotation amplitude
-
-        # Rotation
-        if degrees:
-            rotx = np.deg2rad(rotx)
-            roty = np.deg2rad(roty)
-            rotz = np.deg2rad(rotz)
-
-        rotation = RotationMatrix(rotx, roty, rotz, rot_config, active=active)
-
-        # Defaults for zoom & shear
-
-        zdef = np.array([1, 1, 1])
-        sdef = np.array([0, 0, 0])
-
-        translation = [0, 0, 0]
-
-        TT = t3.affines.compose(T=translation, R=rotation.R, Z=zdef, S=sdef)
-
-        if ref is None:
-            raise ValueError("The ref argument can not be None, provide a master or another reference frame.")
-
-        return cls(transformation=TT, ref=ref, name=name, rot_config=rot_config)
-
-    @staticmethod
-    def fromPoints(points, plane="xy", name=None, usesvd=True, verbose=True):
-        """
-        fromPoints(points, plane="xy", name=None, usesvd=True,verbose=True)
-
-        Finds the best fitting "plane" plane to all points in "points" and builds a ReferenceFrame
-        considering the fitted plane as the 'xy' plane of the new system
-
-        fitPlane must be in ['xy','yz','zx']
-        """
-        return points.bestFittingPlane(fitPlane=plane, usesvd=usesvd, verbose=verbose)
-
-    @classmethod
-    def fromTranslationRotation(
-        cls,
-        translation,
-        rotation,
-        ref,
-        name=None,
-        rot_config=_ROT_CONFIG_DEFAULT,
-        active=_ACTIVE_DEFAULT,
-        degrees=True,
-    ):
-        """fromTranslationRotation(cls,translation,rotation, ref=None,name=None, rot_config=_ROT_CONFIG_DEFAULT,active=_ACTIVE_DEFAULT, degrees=True)
-
-        Construct a ReferenceFrame from a translation and a rotation (vectors!)
-
-        translation : translation vector : 3 x 1 = tx, ty, tz
-        rotation    : rotation vector    : 3 x 1 = rx, ry, rz
-
-        rot_config : convention for the rotation, see rotationMatrix.__doc__
-
-        degrees : if True, input values are assumed in degrees, otherwise radians
-        """
-        # Translation
-        translation = np.array(translation)
-        # Zoom - unit
-        zdef = np.array([1, 1, 1])
-        # Shear
-        sdef = np.array([0, 0, 0])
-        # Rotation
-        if degrees:
-            rotation = np.array([np.deg2rad(item) for item in rotation])
-        rotx, roty, rotz = rotation
-        #
-        rmat = RotationMatrix(rotx, roty, rotz, rot_config=rot_config, active=active)
-        #
-        # transformation = t3.affines.compose(translation,rmat.R,Z=zdef,S=sdef)
-
-        if ref is None:
-            raise ValueError("The ref argument can not be None, provide a master or another reference frame.")
-
-        return cls(
-            transformation=t3.affines.compose(translation, rmat.R, Z=zdef, S=sdef),
-            ref=ref,
-            name=name,
-            rot_config=rot_config,
-        )
-
-    def getTranslationVector(self):
-        """
-        getTranslationVector()
-
-        Returns the translation defining this reference frame (from self.ref to self)
-        """
-        return self.transformation[:3, 3]
-
-    def getRotationVector(self, degrees=True, active=_ACTIVE_DEFAULT):
-        """
-        getRotationVector()
-
-        Returns the rotation (vector) defining this reference frame (from self.ref to self)
-        degrees : if true, rotation angles are expressed in degrees
-        """
-        rotation = t3.euler.mat2euler(self.transformation, axes=self.rot_config)
-        if degrees:
-            rotation = np.array([np.rad2deg(item) for item in rotation])
-        return rotation
-
-    def getTranslationRotationVectors(self, degrees=True, active=_ACTIVE_DEFAULT):
-        """getTranslationRotationVectors()
-        Returns the translation and rotation (vectors) defining this reference frame (from self.ref to self)
-        degrees : if true, rotation angles are expressed in degrees
-        """
-        translation = self.getTranslationVector()
-        rotation = self.getRotationVector(degrees=degrees, active=active)
-        return translation, rotation
-
-    def getRotationMatrix(self):
-        """
-        getRotationMatrix()
-
-        Returns the rotation (matrix) defining this reference frame (from self.ref to self)
-        """
-        result = self.transformation.copy()
-        result[:3, 3] = [0.0, 0.0, 0.0]
-        return result
-
-    def __repr__(self):
-        return f"ReferenceFrame(transformation={transformationToString(self.transformation)}, ref={self.ref.name}, name={self.name}, rot_config={self.rot_config})"
-
-    def __str__(self):
-        msg = textwrap.dedent(
-            f"""\
-                ReferenceFrame
-                name          : {self.name}
-                reference     : {self.ref.name}
-                rot_config    : {self.rot_config}
-                links         : {[key.name for key in self.linkedTo.keys()]}
-                transformation:
-                  [{np.round(self.transformation[0], 3)}
-                   {np.round(self.transformation[1], 3)}
-                   {np.round(self.transformation[2], 3)}
-                   {np.round(self.transformation[3], 3)}]
-                translation   : {np.round(self.getTranslationVector(), 3)}
-                rotation      : {np.round(self.getRotationVector(), 3)}"""
-        )
-        return msg
-
-    @deprecate(
-        reason=(
-            "I do not see the added value of changing the name and "
-            "the current method has the side effect to change the name "
-            "to a random string when the name argument is already used."
-        ),
-        alternative="the constructor argument to set the name already of the object.",
-    )
-    def setName(self, name=None):
-        """
-        Set or change the name of a reference frame.
-
-        ..note: this method is deprecated
-
-        :param str name: the new name for the reference frame, if None, a random name will be generated.
-
-        :raises InvalidOperationError: when you try to change the name of the Master reference frame
-        """
-        if self.isMaster():
-            raise InvalidOperationError(
-                "You try to change the name of the Master reference frame, which is not allowed."
-            )
-        self.name = self.__createName(name)
-
-    def addLink(self, ref, transformation=None, _stop=False):
-        """
-        adds a link between self and ref in self.linkedTo and ref.linkedTo
-        """
-
-        # DONE: set the inverse transformation in the ref to this
-        #   ref.linkedTo[self] = t3add.affine_inverse(transformation)
-        # TODO:
-        #   remove the _stop keyword
-
-        # TODO: deprecate transformation as an input variable
-        #       linkedTo can become a list of reference frames, with no transformation
-        #       associated to the link. The tfo associated to a link is already
-        #       checked in real time whenever the link is addressed
-        if transformation is None:
-            transformation = self.getActiveTransformationTo(ref)
-        else:
-            if DEBUG:
-                LOGGER.info(
-                    "Deprecation warning: transformation will be automatically set to "
-                    "the current relation between {self.name} and {ref.name}"
-                )
-                LOGGER.debug("Requested:")
-                LOGGER.debug(np.round(transformation, decimals=3))
-                LOGGER.debug("Auto (enforced):")
-
-            transformation = self.getActiveTransformationTo(ref)
-
-            DEBUG and LOGGER.debug(np.round(transformation, decimals=3))
-
-        self.linkedTo[ref] = transformation
-
-        # TODO simplify this when transformation is deprecated
-        #      it becomes ref.linkedTo[self] = ref.getActiveTransformationTo(self)
-        ref.linkedTo[self] = t3add.affine_inverse(transformation)
-
-    def removeLink(self, ref):
-        """
-        Remove the link between self and ref, both ways.
-        """
-
-        # First remove the entry in ref to this
-
-        if self in ref.linkedTo:
-            del ref.linkedTo[self]
-
-        # Then remove the entry in this to ref
-
-        if ref in self.linkedTo:
-            del self.linkedTo[ref]
-
-    def getPassiveTransformationTo(self, targetFrame):
-        """
-        getPassiveTransformationTo(self,targetFrame)
-        == getPointTransformationTo(self,targetFrame)
-
-        returns the transformation to apply to a Point (defined in self) to express it in targetFrame
-
-        Passive transformation : the point is static, we change the reference frame around it
-        """
-        DEBUG and LOGGER.debug("PASSIVE TO self {self.name} target {targetFrame.name}")
-        if targetFrame is self:
-            """
-            Nothing to do here, we already have the right coordinates
-            """
-            DEBUG and LOGGER.debug("case 1")
-            result = np.identity(4)
-
-        elif targetFrame.ref is self:
-            """
-            The target frame is defined in self => the requested transformation is the targetFrame definition
-            """
-            DEBUG and LOGGER.debug("=== 2 start ===")
-            result = t3add.affine_inverse(targetFrame.transformation)
-            DEBUG and LOGGER.debug("=== 2 end   ===")
-        elif targetFrame.ref is self.ref:
-            """
-            targetFrame and self are defined wrt the same reference frame
-            We want
-            self --> targetFrame
-            We know
-            targetFrame.ref --> targetFrame (= targetFrame.transformation)
-            self.ref   --> self   (= self.transformation)
-            That is
-            self --> self.ref is targetFrame.ref --> targetFrame
-            inverse(definition)    targetFrame definition
-
-            """
-            if DEBUG:
-                LOGGER.debug("=== 3 start ===")
-                LOGGER.debug(" ref   \n{0}".format(self.ref))
-                LOGGER.debug("===")
-                LOGGER.debug("self   \n{0}".format(self))
-                LOGGER.debug("===")
-                LOGGER.debug("targetFrame \n{0}".format(targetFrame))
-                LOGGER.debug("===")
-
-            selfToRef = self.transformation
-            DEBUG and LOGGER.debug("selfToRef \n{0}".format(selfToRef))
-
-            # refToRef = I
-
-            refToTarget = t3add.affine_inverse(targetFrame.transformation)
-            DEBUG and LOGGER.debug("refToTarget \n{0}".format(refToTarget))
-
-            result = np.dot(refToTarget, selfToRef)
-            DEBUG and LOGGER.debug("result \n{0}".format(result))
-            DEBUG and LOGGER.debug("=== 3 end   ===")
-        else:
-            """
-            We are after the transformation from
-            self --> targetFrame
-            ==
-            self --> self.ref --> targetFrame.ref --> targetFrame
-
-            We know
-            targetFrame.ref --> targetFrame (targetFrame.transformation)
-            self.ref        --> self (self.transformation)
-            but
-            targetFrame.ref != self.ref
-            so we need
-            self.ref --> targetFrame.ref
-            then we can compose
-            self --> self.ref --> targetFrame.ref --> targetFrame
-
-            Note: the transformation self.ref --> targetFrame.ref is acquired recursively
-                  This relies on the underlying assumption that there exists
-                  one unique reference frame that source and self can be linked to
-                  (without constraints on the number of links necessary), i.e.
-                  that, from a frame to its reference or the opposite, there exists
-                  a path between self and targetFrame. That is equivalent to
-                  the assumption that the entire set of reference frames is connex,
-                  i.e. defined upon a unique master reference frame.
-            """
-            DEBUG and LOGGER.debug("=== 4 start ===")
-            selfToRef = self.transformation
-            selfRefToTargetRef = self.ref.getPassiveTransformationTo(targetFrame.ref)
-            refToTarget = t3add.affine_inverse(targetFrame.transformation)
-            result = np.dot(refToTarget, np.dot(selfRefToTargetRef, selfToRef))
-            DEBUG and LOGGER.debug("=== 4 end   ===")
-
-        return result
-
-    def getPassiveTranslationRotationVectorsTo(self, targetFrame, degrees=True):  # , active=_ACTIVE_DEFAULT):
-        """
-        getPassiveTranslationRotationVectorsTo(self,ref,degrees=True)
-
-        extracts rotation vector from the result of getPassiveTransformationTo(target)
-        """
-        transformation = self.getPassiveTransformationTo(targetFrame)
-        rotation = t3.euler.mat2euler(transformation, axes=self.rot_config)
-        if degrees:
-            rotation = np.array([np.rad2deg(item) for item in rotation])
-        translation = transformation[:3, 3]
-        return translation, rotation
-
-    def getPassiveTranslationVectorTo(self, targetFrame, degrees=True):
-        """
-        getPassiveTranslationRotationVectorsTo(self,ref,degrees=True)
-
-        extracts translation vector from the result of getPassiveTransformationTo(target)
-        """
-        return self.getPassiveTranslationRotationVectorsTo(targetFrame, degrees=degrees)[0]
-
-    def getPassiveRotationVectorTo(self, targetFrame, degrees=True):
-        """
-        getPassiveTranslationRotationVectorsTo(self,targetFrame,degrees=True)
-
-        extracts rotation vector from the result of getPassiveTransformationTo(targetFrame)
-        """
-        return self.getPassiveTranslationRotationVectorsTo(targetFrame, degrees=degrees)[1]
-
-    def getPassiveTransformationFrom(self, source):
-        """
-        getPassiveTransformationFrom(self,source)
-        ==  getPointTransformationTo(self,source)
-
-        INPUT
-        source : is a ReferenceFrame object
-
-        OUTPUT
-        returns the transformation matrix  that, applied to a point defined
-        in source returns its coordinates in self
-        """
-        DEBUG and LOGGER.debug("PASSIVE FROM self {self.name} source {source.name}")
-        return source.getPassiveTransformationTo(self)
-
-    def getPassiveTranslationRotationVectorsFrom(self, source, degrees=True):  # , active=_ACTIVE_DEFAULT):
-        """
-        getPassiveTranslationRotationVectorsFrom(self,source, degrees=True)
-
-        extracts rotation vector from the result of getPassiveTransformationTo(target)
-        """
-        transformation = self.getPassiveTransformationFrom(source)
-        rotation = t3.euler.mat2euler(transformation, axes=self.rot_config)
-        if degrees:
-            rotation = np.array([np.rad2deg(item) for item in rotation])
-        translation = transformation[:3, 3]
-        return translation, rotation
-
-    def getPassiveTranslationVectorFrom(self, source, degrees=True):
-        """
-        getPassiveTranslationVectorFrom(self,source, degrees=True)
-
-        extracts translation vector from the result of getPassiveTransformationFrom(source)
-        """
-        return self.getPassiveTranslationRotationVectorsFrom(source, degrees=degrees)[0]
-
-    def getPassiveRotationVectorFrom(self, source, degrees=True):
-        """
-        getPassiveTranslationRotationVectorsFrom(self,source,degrees=True)
-
-        extracts rotation vector from the result of getPassiveTransformationFrom(source)
-        """
-        return self.getPassiveTranslationRotationVectorsFrom(source, degrees=degrees)[1]
-
-    def getActiveTransformationTo(self, target):
-        """
-        Return the transformation matrix from this reference frame (``self``) to
-        the target reference frame.
-
-        Applying this transformation to the ``self`` ReferenceFrame would render it
-        identical to target.
-
-        Applying this transformation to a point defined in ``self`` would move it to
-        the same coordinates in target.
-
-        :param target: is a ReferenceFrame object
-
-        :return: the transformation matrix that defines the reference frame ``target``
-            in ``self``, the current reference frame. The transformation from self
-            to target
-
-        """
-        DEBUG and LOGGER.debug("ACTIVE TO self {self.name} target {target.name}")
-        return target.getPassiveTransformationTo(self)
-
-    def getActiveTranslationRotationVectorsTo(self, targetFrame, degrees=True):  # ,active=_ACTIVE_DEFAULT):
-        """
-        getActiveTranslationRotationVectorsTo(self,ref,degrees=True)
-
-        extracts rotation vector from the result of getActiveTransformationTo(target)
-        """
-        transformation = self.getActiveTransformationTo(targetFrame)
-        rotation = t3.euler.mat2euler(transformation, axes=self.rot_config)
-        if degrees:
-            rotation = np.array([np.rad2deg(item) for item in rotation])
-        translation = transformation[:3, 3]
-        return translation, rotation
-
-    def getActiveTranslationVectorTo(self, targetFrame, degrees=True):
-        """
-        getActiveTranslationRotationVectorsTo(self,ref,degrees=True)
-
-        extracts translation vector from the result of getActiveTransformationTo(target)
-        """
-        return self.getActiveTranslationRotationVectorsTo(targetFrame, degrees=degrees)[0]
-
-    def getActiveRotationVectorTo(self, targetFrame, degrees=True):
-        """
-        getActiveTranslationRotationVectorsTo(self,targetFrame,degrees=True)
-
-        extracts rotation vector from the result of getActiveTransformationTo(targetFrame)
-        """
-        return self.getActiveTranslationRotationVectorsTo(targetFrame, degrees=degrees)[1]
-
-    def getActiveTransformationFrom(self, source):
-        """
-        Applying this transformation to the ``source`` ReferenceFrame
-        would render it identical to self.
-
-        Applying this transformation to a point defined in source
-        would move it to the same coordinates in self.
-
-        :param source: is a ReferenceFrame object
-
-        :return: the transformation matrix that defines this reference frame in ``source``,
-            i.e. the transformation from ``source`` to ``self``
-
-        """
-        DEBUG and LOGGER.debug("ACTIVE FROM self {self.name} source {source.name}")
-        return self.getPassiveTransformationTo(source)
-
-    def getActiveTranslationRotationVectorsFrom(self, source, degrees=True):  # ,active=_ACTIVE_DEFAULT):
-        """
-        getActiveTranslationRotationVectorsFrom(self,source, degrees=True)
-
-        extracts rotation vector from the result of getActiveTransformationTo(target)
-        """
-        transformation = self.getActiveTransformationFrom(source)
-        rotation = t3.euler.mat2euler(transformation, axes=self.rot_config)
-        if degrees:
-            rotation = np.array([np.rad2deg(item) for item in rotation])
-        translation = transformation[:3, 3]
-        return translation, rotation
-
-    def getActiveTranslationVectorFrom(self, source, degrees=True):
-        """
-        getActiveTranslationVectorFrom(self,source, degrees=True)
-
-        extracts translation vector from the result of getActiveTransformationFrom(source)
-        """
-        return self.getActiveTranslationRotationVectorsFrom(source, degrees=degrees)[0]
-
-    def getActiveRotationVectorFrom(self, source, degrees=True):
-        """
-        getActiveTranslationRotationVectorsFrom(self,source,degrees=True)
-
-        extracts rotation vector from the result of getActiveTransformationFrom(source)
-        """
-        return self.getActiveTranslationRotationVectorsFrom(source, degrees=degrees)[1]
-
-    def _findEnds(self, frame, visited=[], ends=[], verbose=True, level=1):
-        """
-        PURPOSE
-        Identify the 'linked_frames':
-            frames that are linked, either directly or indirectly (via mult. links) to "frame"
-            --> returned as visited
-        Identify subset of 'linked_frames of which the reference does not belong to linked_frames
-            --> returned as 'finalEnds'
-        """
-        DEBUG and LOGGER.debug(
-            f"{level:-2d}{2 * level * ' '} Current: {frame.name} --  ends: {[f.name for f in ends]} -- visited {[f.name for f in visited]}"
-        )
-        # if verbose: print (f"{level:-2d}{2*level*' '} Current: {frame.name} --  ends: {[f.name for f in ends]} -- visited {[f.name for f in visited]}")
-
-        # Establish the set of 'linked_frames' (variable 'visited')
-        # The recursive process below keeps unwanted (non-endFrames), namely the
-        # frames that are not directly, but well indirectly linked to their reference
-        # This case is solved further down
-        if frame not in visited:
-            visited.append(frame)
-            if verbose and level:
-                level += 1
-            if frame.ref not in frame.linkedTo:
-                ends.append(frame)
-                DEBUG and LOGGER.debug(f"{(10 + 2 * level) * ' '}{frame.name}: new end")
-                # if verbose: LOGGER.info(f"{(10+2*level)*' '}{frame.name}: new end")
-            for linkedFrame in frame.linkedTo:
-                ends, visited = self._findEnds(linkedFrame, visited=visited, ends=ends, verbose=verbose, level=level)
-
-        # If frame.ref was linked to frame via an indirect route, reject it
-        finalEnds = []
-        for aframe in ends:
-            if aframe.ref not in ends:
-                finalEnds.append(aframe)
-        return finalEnds, visited
-
-    def setTransformation(self, transformation, updated=None, preserveLinks=True, _relative=False, verbose=True):
-        """
-        setTransformation(self,transformation, updated=None, preserveLinks=True,_relative=False, verbose=True)
-
-        Alter the definition of this coordinate system
-
-        If other systems are linked to this one, their definition must be updated accordingly
-          The link set between two ref. Frames A & B is the active transformation matrix from A to B
-          A.addLink(B, matrix)
-          A.getActiveTransformationTo(B) --> matrix
-
-        The way to update the definition of the present system, and of those linked to it
-        depends on the structure of those links.
-
-        We define
-        - the target frame as the one we want to move / redefine
-        - 'linkedFrames' as those directly, or indirectly (i.e. via multiple links)
-           linked to the target frame
-        - endFrames as the subset of linkedFrames which are not linked to their reference (directly or indirectly)
-        - sideFrames as the set of frames whose reference is a linkedFrame, but not themselves belonging to the linkedFrames
-
-        We can demonstrate that updating the endFrames (Block A below) is sufficient to represent
-        the movement of the target frame and all frames directly or indirectly linked to it.
-
-        This may nevertheless have perverse effects for sideFrames. Indeed,
-        their reference will (directly or implicitely) be redefined, but they shouldn't:
-        they are not linked to their reference --> their location in space (e.g. wrt the master frame)
-        should not be affected by the movement of the target frame. This is the aim of block B.
-
-        For a completely robust solution, 2 steps must be taken
-        BLOCK A. apply the rigt transformation to all "endFrames"
-        BLOCK B. Check for frames
-                       using any of the "visited" frames as a reference
-                       not linked to its reference
-            Correct its so that it doesn't move (it shouldn't be affected by the requested movement)
-            This demands a "referenceFor" array property
-
-        """
-        # Ruthless, enforced redefinition of one system. Know what you do, or stay away.
-        # Semi-unpredictible side effets if the impacted frame has links!
-        if preserveLinks == False:
-            self.transformation = transformation
-            return
-
-        if updated is None:
-            updated = []
-
-        # visitedFrames = all frames which can be reached from self via invariant links
-        # endFrames = subset of visitedFrames that are at the end of a chain, and must be updated
-        #             in order to properly represent the requested movement
-        endFrames, visitedFrames = self._findEnds(frame=self, visited=[], ends=[], verbose=verbose)
-        if verbose:
-            LOGGER.info(f"Visited sub-system                      {[f.name for f in visitedFrames]}")
-            LOGGER.info(f"End-frames (movement necessary)         {[f.name for f in endFrames]}")
-
-        # All updates are done by relative movements
-        # so we must first compute the relative movement corresponding to the requested absolute movement
-        if _relative == False:
-            ## virtual = what self should become after the (absolute) movement
-            ## it allows to compute the relative transformation to be applied and work in relative further down
-            virtual = ReferenceFrame(transformation, ref=self.ref, name="virtual", rot_config=self.rot_config)
-            request = self.getActiveTransformationTo(virtual)
-            del virtual
-        else:
-            # If this method is called by applyTransformation,
-            # we are facing a request for a relative movement
-            # In that case the input is directly what we want
-            request = transformation
-
-        # BLOCK B. Check for frames that were impacted but shouldn't have been and correct them
-        # B1. List of frames demanding a correction
-        #     'impacted' are frames having their reference inside the rigid structure moving, but not linked to it
-        #     If nothing is done, the movement will implicitely displace them, which is not intended
-
-        ### Impacted shall not contain frames that are linked to self (== to any frame in visitedFrames) via any route...
-        ### We check if the impacted frames are in visitedFrames:
-        ### it is enough to know it's connected to the entire 'solid body' in which self belongs
-        impacted = []
-        for frame in visitedFrames:
-            for child in frame.referenceFor:
-                # Version 1 : too simple (restores too many frames)
-                # if child not in frame.linkedTo:
-
-                # Version 2 : overkill
-                # child_ends, child_visited = child._findEnds(frame=child,visited=[],ends=[],verbose=verbose)
-                # if frame not in child_visited:
-
-                # Version 3 : just check if the child belongs to the rigid structure...
-                if child not in visitedFrames:
-                    impacted.append(child)
-
-        DEBUG and LOGGER.debug(f"Impacted (not moving, defined in moving) {[f.name for f in impacted]}")
-
-        # B2. save the location of all impacted frames
-        # tempReference has the only purpose of avoiding that every frame must know the master
-        # It could be any frame without links and defined wrt the master, but the master isn't known here...
-        # TODO : confirm that the master isn't known (e.g. via cls._MASTER)
-        tempMaster = self.findMaster()
-        toRestore = {}
-        for frame in impacted:
-            toRestore[frame] = ReferenceFrame(
-                frame.getActiveTransformationFrom(tempMaster),
-                ref=tempMaster,
-                name=frame.name + "toRestore",
-                rot_config=frame.rot_config,
-            )
-
-        # BLOCK A. apply the rigt transformation to all "endFrames"
-        """
-        ### Ensure that "Untouched" remains unaffected regardless of the update order of the endFrames
-        selfUntouched = ReferenceFrame(
-            transformation = self.getActiveTransformationFrom(tempMaster),
-            ref=tempMaster,
-            name=self.name + "_fixed",
-            rot_config=self.rot_config,
-        )
-        """
-
-        selfUntouched = ReferenceFrame(
-            transformation=self.transformation,
-            ref=self.ref,
-            name=self.name + "_fixed",
-            rot_config=self.rot_config,
-        )
-
-        for bottom in endFrames:
-            up = bottom.getActiveTransformationTo(selfUntouched)
-            down = selfUntouched.getActiveTransformationTo(bottom)
-
-            relativeTransformation = up @ request @ down
-
-            if DEBUG:
-                LOGGER.debug(f"\nAdjusting {bottom.name} to {self.name}\nUpdated {[i.name for i in updated]}")
-                LOGGER.debug(f"\ninput transformation \n{np.round(transformation, 3)}")
-                LOGGER.debug(
-                    f"\nup \n{np.round(up, 3)}\ntransformation\n{np.round(request, 3)}\ndown\n{np.round(down, 3)}"
-                )
-                LOGGER.debug(f"\nrelativeTransformation \n{np.round(relativeTransformation, 3)}")
-
-            bottom.transformation = bottom.transformation @ relativeTransformation
-
-            updated.append(bottom)
-
-        for frame in visitedFrames:
-            if frame not in updated:
-                updated.append(frame)
-
-        # Block B
-        # B3. Correction
-        # we must set preserveLinks to False to prevent cascading impact from this update
-        # if X1 is impacted with
-        #    X1.ref = E1     X1 --> X2 (simple link)    E2.ref = X2
-        # where X1 and X2 are "external frames" and E1 and E2 are "endFrames" that will hence move
-        # X1 was impacted by the move of E1, but X2 wasn't
-        # ==> wrt master, neither X1 nor X2 should have moved, but X1 did (via its ref)
-        # and hence its link with X2 is now corrupt
-        # We need to move X1 back to its original location wrt master
-        # if we preserved the links while doing that,
-        # we will move X2, which shouldn't move
-        # (it didn't have to, it didn't and the goal is to restore the validity of the links)
-        #
-        # Direct restoration or the impacted frames at their original location
-
-        for frame in toRestore:
-            frame.transformation = frame.ref.getActiveTransformationTo(toRestore[frame])
-
-        del toRestore
-
-        return
-
-    def setTranslationRotation(
-        self,
-        translation,
-        rotation,
-        rot_config=_ROT_CONFIG_DEFAULT,
-        active=_ACTIVE_DEFAULT,
-        degrees=True,
-        preserveLinks=True,
-    ):
-        """
-        setTranslationRotation(self,translation,rotation,rot_config=_ROT_CONFIG_DEFAULT, active=_ACTIVE_DEFAULT, degrees=True, preserveLinks=True)
-
-        Same as setTransformation, but input = translation and rotation vectors rather than affine transformation matrix
-        """
-        # Translation
-        translation = np.array(translation)
-        # Zoom - unit
-        zdef = np.array([1, 1, 1])
-        # Shear
-        sdef = np.array([0, 0, 0])
-        # Rotation
-        if degrees:
-            rotation = np.array([np.deg2rad(item) for item in rotation])
-
-        rotx, roty, rotz = rotation
-
-        rmat = RotationMatrix(rotx, roty, rotz, rot_config=rot_config, active=active)
-
-        DEBUG and LOGGER.debug(t3.affines.compose(translation, rmat.R, Z=zdef, S=sdef))
-
-        transformation = t3.affines.compose(translation, rmat.R, Z=zdef, S=sdef)
-
-        self.setTransformation(transformation, preserveLinks=preserveLinks, _relative=False)
-        return
-
-    def applyTransformation(self, transformation, updated=None, preserveLinks=True):
-        """
-        applyTransformation(self,transformation)
-
-        Applies the transformation to the current reference frame's definition
-
-        self.transformation := transformation @ self.transformation
-        """
-        if updated is None:
-            updated = []
-
-        self.setTransformation(
-            transformation=transformation,
-            updated=updated,
-            preserveLinks=preserveLinks,
-            _relative=True,
-        )
-
-    def applyTranslationRotation(
-        self,
-        translation,
-        rotation,
-        rot_config=None,
-        active=_ACTIVE_DEFAULT,
-        degrees=True,
-        preserveLinks=True,
-    ):
-        """
-        applyTranslationRotation(self,translation,rotation,rot_config=None,active=_ACTIVE_DEFAULT,degrees=True, preserveLinks=True)
-
-        Builds transformation from input translation and rotation, then applies this transformation
-        """
-        if rot_config is None:
-            rot_config = self.rot_config
-
-        # Translation
-        translation = np.array(translation)
-        # Zoom - unit
-        zdef = np.array([1, 1, 1])
-        # Shear
-        sdef = np.array([0, 0, 0])
-        # Rotation
-        if degrees:
-            rotation = np.array([np.deg2rad(item) for item in rotation])
-        rotx, roty, rotz = rotation
-        #
-        rmat = RotationMatrix(rotx, roty, rotz, rot_config=rot_config, active=active)
-        #
-        transformation = t3.affines.compose(translation, rmat.R, Z=zdef, S=sdef)
-        #
-        self.applyTransformation(transformation, preserveLinks=preserveLinks)
-        return
-
-    def getAxis(self, axis, name=None):
-        """
-        INPUT
-        axis : in ['x','y','z']
-
-        OUTPUT
-        Returns an object of class Point, corresponding to the vector defining
-        the axis of choice in self.
-        The output can be used with the Point methods to express that axis in any reference frame
-        """
-        haxis = {}
-        haxis["x"] = [1, 0, 0]
-        haxis["y"] = [0, 1, 0]
-        haxis["z"] = [0, 0, 1]
-        if name is None:
-            name = self.name + axis
-        return Point(haxis[axis], ref=self, name=name)
-
-    def getNormal(self, name=None):
-        """
-        getNormal(self,name=None)
-
-        Returns a unit vector normal to the X-Y plane (= [0,0,1] = getAxis('z'))
-        """
-        return Point([0, 0, 1], ref=self, name=name)
-
-    def getOrigin(self, name=None):
-        """
-        OUTPUT
-        Returns an object of class Point, corresponding to the vector defining the origin in 'self', i.e. [0,0,0]
-        The output can be used with the Point methods to express that axis in any reference frame
-        """
-        return Point([0, 0, 0], ref=self, name=name)
-
-    def is_master(self):
-        return self.isMaster()
-
-    def isMaster(self):
-        """
-        A Master reference frame is a reference frame that refers to itself, and the
-        transformation is the Identity matrix.
-        """
-        tr = self.transformation
-
-        if (self.name == self.ref.name) and (tr.shape[0] == tr.shape[1]) and np.allclose(tr, np.eye(tr.shape[0])):
-            return True
-        return False
-
-    def isSame(self, other):
-        """
-        Returns True if the two reference frames are the same except for their name.
-
-        Two Reference Frames are considered the same when:
-
-        * their transformation matrices are equal
-        * the reference frame is equal
-        * the rot_config is equal
-        * the name may be different
-
-        .. todo:: This needs further work and testing!
-        """
-
-        if other is self:
-            DEBUG and LOGGER.debug(
-                "self and other are the same object (beware: this message might occur with recursion from self.ref != self.other)"
-            )
-            return True
-
-        if isinstance(other, ReferenceFrame):
-            DEBUG and LOGGER.debug(f"comparing {self.name} and {other.name}")
-            if not np.array_equal(self.transformation, other.transformation):
-                DEBUG and LOGGER.debug("self.transformation not equals other.transformation")
-                return False
-            if self.rot_config != other.rot_config:
-                DEBUG and LOGGER.debug("self.rot_config not equals other.rot_config")
-                return False
-            # The following tests are here to prevent recursion to go infinite when self and other
-            # point to itself
-            if self.ref is self and other.ref is other:
-                DEBUG and LOGGER.debug("both self.ref and other.ref point to themselves")
-                pass
-            else:
-                DEBUG and LOGGER.debug("one of self.ref or other.ref doesn't points to itself")
-                if self.ref != other.ref:
-                    DEBUG and LOGGER.debug("self.ref not equals other.ref")
-                    return False
-            if self.name is not other.name:
-                DEBUG and LOGGER.debug(
-                    f"When checking two reference frames for equality, only their names differ: '{self.name}' not equals '{other.name}'"
-                )
-                pass
-            return True
-        return NotImplemented
-
-    def __eq__(self, other):
-        """
-        Overrides the default implementation, which basically checks for id(self) == id(other).
-
-        Two Reference Frames are considered equal when:
-
-        * their transformation matrices are equal
-        * the reference frame is equal
-        * the rot_config is equal
-        * do we want to insist on the name being equal?
-          YES - for strict testing
-          NO  - this might need a new method like isSame(self, other) where the criteria are relaxed
-
-
-        .. todo:: This needs further work and testing!
-        """
-
-        if other is self:
-            DEBUG and LOGGER.debug(
-                "self and other are the same object (beware: this message might occur with recursion from self.ref != self.other)"
-            )
-            return True
-
-        if isinstance(other, ReferenceFrame):
-            DEBUG and LOGGER.debug(f"comparing {self.name} and {other.name}")
-            if not np.array_equal(self.transformation, other.transformation):
-                DEBUG and LOGGER.debug("self.transformation not equals other.transformation")
-                return False
-            if self.rot_config != other.rot_config:
-                DEBUG and LOGGER.debug("self.rot_config not equals other.rot_config")
-                return False
-            # The following tests are here to prevent recursion to go infinite when self and other
-            # point to itself
-            if self.ref is self and other.ref is other:
-                DEBUG and LOGGER.debug("both self.ref and other.ref point to themselves")
-                pass
-            else:
-                DEBUG and LOGGER.debug("one of self.ref or other.ref doesn't points to itself")
-                if self.ref != other.ref:
-                    DEBUG and LOGGER.debug("self.ref not equals other.ref")
-                    return False
-            if self.name is not other.name:
-                DEBUG and LOGGER.debug(
-                    f"When checking two reference frames for equality, only their names differ: '{self.name}' not equals '{other.name}'"
-                )
-                return False
-            return True
-        return NotImplemented
-
-    def __hash__(self):
-        """Overrides the default implementation"""
-        hash_number = (id(self.rot_config) + id(self.ref) + id(self.name)) // 16
-        return hash_number
-
-    def __copy__(self):
-        DEBUG and LOGGER.debug(
-            f'Copying {self!r} unless {self.name} is "Master" in which case the Master itself is returned.'
-        )
-
-        if self.isMaster():
-            DEBUG and LOGGER.debug(f"Returning Master itself instead of a copy.")
-            return self
-
-        return ReferenceFrame(self.transformation, self.ref, self.name, self.rot_config)