cgse-coordinates 0.17.3__py3-none-any.whl → 0.18.0__py3-none-any.whl

egse/coordinates/reference_frame.py

@@ -0,0 +1,1417 @@
+"""
+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.rotation_matrix import RotationMatrix
+from egse.decorators import deprecate
+from egse.exceptions import InvalidOperationError
+
+LOGGER = logging.getLogger(__name__)
+DEBUG = False
+
+
+def transformation_to_string(transformation: np.ndarray) -> str:
+    """Represents the given transformation in a condensed form on one line.
+
+    Args:
+        transformation (np.ndarray): Transformation matrix to be printed.
+
+    Returns:
+        Given transformation in a condensed form on one line.
+    """
+
+    if isinstance(transformation, np.ndarray):
+        if np.allclose(transformation, ReferenceFrame._I):
+            return "Identity"
+
+        message = np.array2string(
+            transformation,
+            separator=",",
+            suppress_small=True,
+            formatter={"float_kind": lambda x: "%.2f" % x},
+        ).replace("\n", "")
+        return message
+
+    # 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 reference_frame: reference system in which this new reference frame is defined
+    :type reference_frame: ReferenceFrame
+
+    :param name: name the reference frame so it can be referenced, set to 'master' when None
+    :type name: str
+
+    :param rotation_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 rotation_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 __init__(
+        self, transformation: np.ndarray | None, reference_frame, name=None, rotation_config=_ROT_CONFIG_DEFAULT
+    ):
+        """Initialization of a new reference frame.
+
+        Args:
+            transformation (np.ndarray | None): 4x4 affine transformation matrix defining this system in the given
+                                                reference frame.
+            reference_frame:
+            name (str | None): Name of the reference frame.
+            rotation_config (str): Order in which the rotation about the three axes are chained.
+        """
+
+        self.debug = False
+
+        DEBUG and LOGGER.debug(
+            f"transformation={transformation_to_string(transformation)}, reference_frame={reference_frame!r}, name={name}, rot_config={rotation_config}"
+        )
+
+        # All argument testing is done in the __new__() method and we should be save here.
+
+        self.reference_frame = reference_frame
+        self.name = self.__create_name(name)
+        self.transformation = transformation
+        self.rotation_config = rotation_config
+
+        self.definition = [self.transformation, self.reference_frame, self.name]
+
+        self.x = self.get_axis("x")
+        self.y = self.get_axis("y")
+        self.z = self.get_axis("z")
+
+        self.linked_to = {}
+        self.reference_for = []
+
+        reference_frame.reference_for.append(self)
+
+        return
+
+    def __new__(cls, transformation, ref, name=None, rot_config=_ROT_CONFIG_DEFAULT):
+        """Create a new ReferenceFrame class."""
+
+        DEBUG and LOGGER.debug(
+            f"transformation={transformation_to_string(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 find_master(self):
+        """Returns the master frame.
+
+        The master frame is always at the end of the path, when following the references.
+
+        Returns: Master frame.
+        """
+
+        frame = self
+
+        while not frame.is_master():
+            frame = frame.reference_frame
+
+        return frame
+
+    @classmethod
+    def create_master(cls):
+        """Creates a master reference frame.
+
+        A master reference frame is defined w.r.t. itself and is initialised with the identity matrix.
+
+        The master frame is automatically given the name "Master".
+        """
+
+        master_frame = super(ReferenceFrame, cls).__new__(cls)
+        master_frame.name = "Master"
+        master_frame.reference_frame = master_frame
+        master_frame.transformation = cls._I
+        master_frame.rotation_config = cls._ROT_CONFIG_DEFAULT
+        master_frame.initialized = True
+        master_frame.debug = False
+        master_frame.linked_to = {}
+        master_frame.reference_for = []
+
+        DEBUG and LOGGER.debug(
+            f"NEW MASTER CREATED: {id(master_frame)}, reference_frame = {id(master_frame.reference_frame)}, name = {master_frame.name}"
+        )
+
+        return master_frame
+
+    @classmethod
+    def __create_name(cls, name: str = None) -> str:
+        """Creates a unique name for a reference frame.
+
+        Args:
+            name (str): Name for a reference frame.
+
+        Returns:
+            Unique name for a reference frame.
+        """
+
+        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, a new unique name was "
+                f"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 ReferenceFrame with the same name."
+                )
+
+        cls._names_used.append(name)
+
+        return name
+
+    @classmethod
+    def from_translation(
+        cls, translation_x: float, translation_y: float, translation_z: float, reference_frame, name: str = None
+    ):
+        """Creates a reference frame from a translation w.r.t. the given reference frame.
+
+         Args:
+             translation_x (float): Translation along the x-axis.
+             translation_y (float): Translation along the y-axis.
+             translation_z (float): Translation along the z-axis.
+             reference_frame (ReferenceFrame): Reference frame w.r.t. which the translation is performed.
+             name (str): 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.
+
+        Returns:
+            Reference frame, based on the given translation along the axes w.r.t. the given reference frame.
+        """
+
+        affine_matrix = np.identity(4)
+        affine_matrix[:3, 3] = [translation_x, translation_y, translation_z]
+
+        if reference_frame is None:
+            raise ValueError(
+                "The reference_frame argument can not be None, provide a master or another reference frame."
+            )
+
+        return cls(transformation=affine_matrix, reference_frame=reference_frame, name=name)
+
+    @classmethod
+    def from_rotation(
+        cls,
+        rotation_x: float,
+        rotation_y: float,
+        rotation_z: float,
+        reference_frame,
+        name: str = None,
+        rotation_config: str = _ROT_CONFIG_DEFAULT,
+        active: bool = _ACTIVE_DEFAULT,
+        degrees: bool = True,
+    ):
+        """Creates a reference frame from a rotation w.r.t. the given reference frame.
+
+        Args:
+            rotation_x (float): Rotation angle about the x-axis.
+            rotation_y (float): Rotation angle about the y-axis.
+            rotation_z (float): Rotation angle about the z-axis.
+            reference_frame (ReferenceFrame): Reference frame w.r.t. which the rotation is performed.
+            name (str): 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.
+            rotation_config (str): Order in which the rotation about the three axes are chained.
+            active (bool): Indicates whether the rotation is active.
+            degrees (bool): Indicates whether the rotation angles are specified in degrees, rather than radians.
+
+        Returns:
+            Reference frame, based on the given rotations about the axes w.r.t. the given reference frame.
+        """
+
+        if degrees:
+            rotation_x = np.deg2rad(rotation_x)
+            rotation_y = np.deg2rad(rotation_y)
+            rotation_z = np.deg2rad(rotation_z)
+        rotation_matrix = RotationMatrix(rotation_x, rotation_y, rotation_z, rotation_config, active=active)
+
+        zoom = np.array([1, 1, 1])
+        shear = np.array([0, 0, 0])
+        translation = [0, 0, 0]
+
+        transformation = t3.affines.compose(T=translation, R=rotation_matrix.rotation_matrix, Z=zoom, S=shear)
+
+        if reference_frame is None:
+            raise ValueError(
+                "The reference_frame argument can not be None, provide a master or another reference frame."
+            )
+
+        return cls(
+            transformation=transformation, reference_frame=reference_frame, name=name, rotation_config=rotation_config
+        )
+
+    @staticmethod
+    def from_points(points, plane: str = "xy", use_svd: bool = True, verbose: bool = True):
+        """Finds the best-fitting plane to the given points.
+
+        Args:
+            points (Points): Collection of point to which to fit the plane.
+            plane (str): Kind of plane to fit.  Must be in ["xy", "yz", "zx"].
+            use_svd (bool): Indicates whether to use Single Value Decomposition (SVD).
+            verbose (bool): Indicates whether to print verbose output.
+
+        Returns:
+            Reference frame, based on the given points.
+        """
+
+        return points.best_fitting_plane(plane=plane, use_svd=use_svd, verbose=verbose)
+
+    @classmethod
+    def from_translation_rotation(
+        cls,
+        translation: np.ndarray,
+        rotation: np.ndarray,
+        reference_frame,
+        name: str = None,
+        rotation_config: str = _ROT_CONFIG_DEFAULT,
+        active: bool = _ACTIVE_DEFAULT,
+        degrees: bool = True,
+    ):
+        """Creates a reference frame from the given translation and rotation vectors.
+
+        Args:
+            translation (np.ndarray): Translation vector: 3x1 = tx, ty, tz.
+            rotation (np.ndarray): Rotation vector: 3x1: rx, ry, rz.
+
+
+            reference_frame (ReferenceFrame): Reference frame w.r.t. which the rotation is performed.
+            name (str): 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.
+            rotation_config (str): Order in which the rotation about the three axes are chained.
+            active (bool): Indicates whether the rotation is active.
+            degrees (bool): Indicates whether the rotation angles are specified in degrees, rather than radians.
+
+        """
+
+        translation = np.array(translation)
+        zoom = np.array([1, 1, 1])
+        shear = np.array([0, 0, 0])
+        if degrees:
+            rotation = np.array([np.deg2rad(item) for item in rotation])
+        rotation_x, rotation_y, rotation_z = rotation
+
+        rotation_matrix = RotationMatrix(
+            rotation_x, rotation_y, rotation_z, rotation_config=rotation_config, active=active
+        )
+
+        if reference_frame is None:
+            raise ValueError(
+                "The reference_frame argument can not be None, provide a master or another reference frame."
+            )
+
+        return cls(
+            transformation=t3.affines.compose(translation, rotation_matrix.rotation_matrix, Z=zoom, S=shear),
+            reference_frame=reference_frame,
+            name=name,
+            rotation_config=rotation_config,
+        )
+
+    def get_translation_vector(self) -> np.ndarray:
+        """Returns the translation vector defining the reference frame.
+
+        Returns:
+            Translation vector: 3x1 = tx, ty, tz.
+        """
+
+        return self.transformation[:3, 3]
+
+    def get_rotation_vector(self, degrees: bool = True) -> np.ndarray:
+        """Returns the rotation vector defining the reference frame.
+
+        Args:
+            degrees (bool): Indicates whether the rotation angles are specified in degrees, rather than radians.
+
+        Returns:
+            Rotation vector: 3x1 = rx, ry, rz.
+        """
+
+        rotation = t3.euler.mat2euler(self.transformation, axes=self.rotation_config)
+
+        if degrees:
+            rotation = np.array([np.rad2deg(item) for item in rotation])
+
+        return rotation
+
+    def get_translation_rotation_vectors(self, degrees: bool = True) -> tuple[np.ndarray, np.ndarray]:
+        """Returns the translation and rotation (vectors) defining the reference frame.
+
+        Args:
+            degrees (bool): Indicates whether the rotation angles are specified in degrees, rather than radians.
+
+        Returns:
+            Translation vector: 3x1 = tx, ty, tz.
+            Rotation vector: 3x1 = rx, ry, rz.
+        """
+
+        translation = self.get_translation_vector()
+        rotation = self.get_rotation_vector(degrees=degrees)
+
+        return translation, rotation
+
+    def get_rotation_matrix(self) -> np.ndarray:
+        """Returns the rotation matrix defining the reference frame.
+
+        Args:
+            Rotation matrix defining the reference frame.
+        """
+
+        result = self.transformation.copy()
+        result[:3, 3] = [0.0, 0.0, 0.0]
+
+        return result
+
+    def __repr__(self) -> str:
+        """Returns a representation the reference frame.
+
+        Returns:
+            Representation of the reference frame.
+        """
+
+        return (
+            f"ReferenceFrame(transformation={transformation_to_string(self.transformation)}, "
+            f"reference_frame={self.reference_frame.name}, name={self.name}, rotation_config={self.rotation_config})"
+        )
+
+    def __str__(self) -> str:
+        """Returns a printable string representation of the reference frame.
+
+        Returns:
+            Printable string representation of the reference frame.
+        """
+
+        message = textwrap.dedent(
+            f"""\
+                ReferenceFrame
+                name          : {self.name}
+                reference     : {self.reference_frame.name}
+                rotation_config    : {self.rotation_config}
+                links         : {[key.name for key in self.linked_to.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.get_translation_vector(), 3)}
+                rotation      : {np.round(self.get_rotation_vector(), 3)}"""
+        )
+        return message
+
+    @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 set_name(self, name: str = None) -> None:
+        """Sets or changes the name of the reference frame.
+
+        Args:
+            name (str): 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.is_master():
+            raise InvalidOperationError(
+                "You try to change the name of the Master reference frame, which is not allowed."
+            )
+
+        self.name = self.__create_name(name)
+
+    def add_link(self, reference_frame, transformation=None, _stop: bool = False) -> None:
+        """Adds a link with the given reference frame."""
+
+        # 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.get_active_transformation_to(reference_frame)
+        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.get_active_transformation_to(reference_frame)
+
+            DEBUG and LOGGER.debug(np.round(transformation, decimals=3))
+
+        self.linked_to[reference_frame] = transformation
+
+        # TODO simplify this when transformation is deprecated
+        #      it becomes ref.linked_to[self] = ref.get_active_transformation_to(self)
+        reference_frame.linked_to[self] = t3add.affine_inverse(transformation)
+
+    def remove_link(self, reference_frame) -> None:
+        """Removes the links with the given reference frame (both ways).
+
+        Args:
+            reference_frame (ReferenceFrame): Reference frame to remove the link with.
+        """
+
+        # First remove the entry in ref to this
+
+        if self in reference_frame.linked_to:
+            del reference_frame.linked_to[self]
+
+        # Then remove the entry in this to ref
+
+        if reference_frame in self.linked_to:
+            del self.linked_to[reference_frame]
+
+    def get_passive_transformation_to(self, target_frame) -> np.ndarray:
+        """Returns the transformation to apply to a point (defined in self) to express it in the target frame.
+
+        A passive transformation means that the point is static and that we change the reference frame around it.
+
+        get_passive_transformation_to(self, target_frame) == get_point_transformation_to(self, target_frame)
+
+        Args:
+            target_frame (ReferenceFrame): Reference frame to get the passive transformation to.
+
+        Returns:
+            Passive transformation to apply to a point (defined in self) to express it in the target frame.
+        """
+
+        DEBUG and LOGGER.debug("PASSIVE TO self {self.name} target {targetFrame.name}")
+        if target_frame is self:
+            # Nothing to do here, we already have the right coordinates
+
+            DEBUG and LOGGER.debug("case 1")
+            result = np.identity(4)
+
+        elif target_frame.reference_frame is self:
+            # The target frame is defined in self -> The requested transformation is the target frame definition
+            DEBUG and LOGGER.debug("=== 2 start ===")
+            result = t3add.affine_inverse(target_frame.transformation)
+            DEBUG and LOGGER.debug("=== 2 end   ===")
+        elif target_frame.reference_frame is self.reference_frame:
+            # target_frame and self are defined wrt the same reference frame
+            # We want
+            #   self --> target_frame
+            # We know
+            #   target_frame.reference_frame --> target_frame (= target_frame.transformation)
+            #   self.reference_frame   --> self   (= self.transformation)
+            # That is
+            #   self --> self.reference_frame is target_frame.reference_frame --> target_frame
+            #   inverse(definition)    target_frame definition
+
+            # Both reference frames are defined w.r.t. the same reference frame
+
+            if DEBUG:
+                LOGGER.debug("=== 3 start ===")
+                LOGGER.debug(" ref   \n{0}".format(self.reference_frame))
+                LOGGER.debug("===")
+                LOGGER.debug("self   \n{0}".format(self))
+                LOGGER.debug("===")
+                LOGGER.debug("target_frame \n{0}".format(target_frame))
+                LOGGER.debug("===")
+
+            self_to_ref = self.transformation
+            DEBUG and LOGGER.debug("self_to_ref \n{0}".format(self_to_ref))
+
+            ref_to_target = t3add.affine_inverse(target_frame.transformation)
+            DEBUG and LOGGER.debug("ref_to_target \n{0}".format(ref_to_target))
+
+            result = np.dot(ref_to_target, self_to_ref)
+            DEBUG and LOGGER.debug("result \n{0}".format(result))
+            DEBUG and LOGGER.debug("=== 3 end   ===")
+        else:
+            # We are after the transformation from
+            #   self --> target_frame
+            #   self --> self.reference_frame --> target_frame.reference_frame --> target_frame
+            #
+            # We know
+            #   target_frame.reference_frame --> target_frame (target_frame.transformation)
+            #   self.reference_frame        --> self (self.transformation)
+            # but
+            #   target_frame.reference_frame != self.reference_frame
+            # so we need
+            #   self.reference_frame --> target_frame.reference_frame
+            # then we can compose
+            # self --> self.reference_frame --> target_frame.reference_frame --> target_frame
+            #
+            # Note: the transformation self.reference_frame --> target_frame.reference_frame 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 target_frame. 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 ===")
+            self_to_ref = self.transformation
+            self_ref_to_target_ref = self.reference_frame.get_passive_transformation_to(target_frame.reference_frame)
+            ref_to_target = t3add.affine_inverse(target_frame.transformation)
+            result = np.dot(ref_to_target, np.dot(self_ref_to_target_ref, self_to_ref))
+            DEBUG and LOGGER.debug("=== 4 end   ===")
+
+        return result
+
+    def get_passive_translation_rotation_vectors_to(self, target_frame, degrees: bool = True):
+        """Extracts the translation and rotation vectors from the passive transformation to the target frame.
+
+        Args:
+            target_frame (ReferenceFrame): Reference frame to get the passive transformation to.
+            degrees (bool): Indicates if the rotation vector should be in degrees rather than radians.
+
+        Returns:
+            Translation and rotation vectors from the passive transformation to the target frame.
+        """
+
+        transformation = self.get_passive_transformation_to(target_frame)
+
+        rotation = t3.euler.mat2euler(transformation, axes=self.rotation_config)
+        if degrees:
+            rotation = np.array([np.rad2deg(item) for item in rotation])
+        translation = transformation[:3, 3]
+
+        return translation, rotation
+
+    def get_passive_translation_vector_to(self, target_frame) -> np.ndarray:
+        """Extract the translation vector from the passive transformation to the target frame.
+
+        Args:
+            target_frame (ReferenceFrame): Reference frame to get the passive transformation to.
+
+        Returns:
+            Translation vector from the passive transformation to the target frame.
+        """
+        return self.get_passive_translation_rotation_vectors_to(target_frame)[0]
+
+    def get_passive_rotation_vector_to(self, target_frame, degrees=True):
+        """Extracts the rotation vector from the passive transformation to the target frame.
+
+        Args:
+            target_frame (ReferenceFrame): Reference frame to get the passive transformation to.
+            degrees (bool): Indicates if the rotation vector should be in degrees rather than radians.
+
+        Returns:
+            Rotation vector from the passive transformation to the target frame.
+        """
+
+        return self.get_passive_translation_rotation_vectors_to(target_frame, degrees=degrees)[1]
+
+    def get_passive_transformation_from(self, source_frame) -> np.ndarray:
+        """Returns the transformation to apply to a point (defined in the source frame) to express it in self.
+
+        A passive transformation means that the point is static and that we change the reference frame around it.
+
+        get_passive_transformation_from(self, source_frame) == get_point_transformation_from(self, source_frame)
+
+        Args:
+            source_frame (ReferenceFrame): Reference frame to get the passive transformation from.
+
+        Returns:
+            Passive transformation to apply to a point (defined in the source frame) to express it in self.
+        """
+
+        DEBUG and LOGGER.debug("PASSIVE FROM self {self.name} source {source.name}")
+        return source_frame.get_passive_transformation_to(self)
+
+    def get_passive_translation_rotation_vectors_from(self, source_frame, degrees: bool = True):
+        """Extracts the translation and rotation vectors from the passive transformation from the source frame.
+
+        Args:
+            source_frame (ReferenceFrame): Reference frame to get the passive transformation from.
+            degrees (bool): Indicates if the rotation vector should be in degrees rather than radians.
+
+        Returns:
+            Translation and rotation vectors from the passive transformation from the source frame.
+        """
+
+        transformation = self.get_passive_transformation_from(source_frame)
+        rotation = t3.euler.mat2euler(transformation, axes=self.rotation_config)
+        if degrees:
+            rotation = np.array([np.rad2deg(item) for item in rotation])
+        translation = transformation[:3, 3]
+
+        return translation, rotation
+
+    def get_passive_translation_vector_from(self, source_frame):
+        """Extracts the translation vector from the passive transformation from the source frame.
+
+        Args:
+            source_frame (ReferenceFrame): Reference frame to get the passive transformation from.
+
+        Returns:
+            Translation vector from the passive transformation from the source frame.
+        """
+        return self.get_passive_translation_rotation_vectors_from(source_frame)[0]
+
+    def get_passive_rotation_vector_from(self, source_frame, degrees=True):
+        """Extracts the rotation vector from the passive transformation from the source frame.
+
+        Args:
+            source_frame (ReferenceFrame): Reference frame to get the passive transformation from.
+            degrees (bool): Indicates if the rotation vector should be in degrees rather than radians.
+
+        Returns:
+            Rotation vector from the passive transformation from the source frame.
+        """
+        return self.get_passive_translation_rotation_vectors_from(source_frame, degrees=degrees)[1]
+
+    def get_active_transformation_to(self, target_frame) -> np.ndarray:
+        """Returns the active transformation to the target frame.
+
+        Returns:
+            Transformation matrix that defines the target frame in the current frame.
+        """
+
+        DEBUG and LOGGER.debug("ACTIVE TO self {self.name} target {target.name}")
+        return target_frame.get_passive_transformation_to(self)
+
+    def get_active_translation_rotation_vectors_to(
+        self, target_frame, degrees: bool = True
+    ) -> tuple[np.ndarray, np.ndarray]:
+        """Extracts the translation and rotation vectors from the active transformation to the target frame.
+
+        Args:
+            target_frame (ReferenceFrame): Reference frame to get the active transformation from.
+            degrees (bool): Indicates if the rotation vector should be in degrees rather than radians.
+
+        Returns:
+            Translation and rotation vectors from the active transformation to the target frame.
+        """
+
+        transformation = self.get_active_transformation_to(target_frame)
+        rotation = t3.euler.mat2euler(transformation, axes=self.rotation_config)
+        if degrees:
+            rotation = np.array([np.rad2deg(item) for item in rotation])
+        translation = transformation[:3, 3]
+
+        return translation, rotation
+
+    def get_active_translation_vector_to(self, target_frame, degrees: bool = True) -> np.ndarray:
+        """Extracts the translation vector from the active transformation to the target frame.
+
+        Args:
+            target_frame (ReferenceFrame): Reference frame to get the active transformation from.
+            degrees (bool): Indicates if the rotation vector should be in degrees rather than radians.
+
+        Returns:
+            Translation vector from the active transformation to the target frame.
+        """
+
+        return self.get_active_translation_rotation_vectors_to(target_frame, degrees=degrees)[0]
+
+    def get_active_rotation_vector_to(self, target_frame, degrees: bool = True):
+        """Extracts the rotation vector from the active transformation to the target frame.
+
+        Args:
+            target_frame (ReferenceFrame): Reference frame to get the active transformation from.
+            degrees (bool): Indicates if the rotation vector should be in degrees rather than radians.
+
+        Returns:
+            Rotation vector from the active transformation to the target frame.
+        """
+
+        return self.get_active_translation_rotation_vectors_to(target_frame, degrees=degrees)[1]
+
+    def get_active_transformation_from(self, source_frame):
+        """Returns the active transformation from the source frame.
+
+        Returns:
+            Transformation matrix that defines the current frame in the source frame.
+        """
+
+        DEBUG and LOGGER.debug("ACTIVE FROM self {self.name} source {source.name}")
+        return self.get_passive_transformation_to(source_frame)
+
+    def get_active_translation_rotation_vectors_from(self, source_frame, degrees: bool = True):
+        """Extracts the translation and rotation vectors from the active transformation from the source frame.
+
+        Args:
+            source_frame (ReferenceFrame): Reference frame to get the active transformation from.
+            degrees (bool): Indicates if the rotation vector should be in degrees rather than radians.
+
+        Returns:
+            Translation and rotation vectors from the active transformation from the source frame.
+        """
+
+        transformation = self.get_active_transformation_from(source_frame)
+        rotation = t3.euler.mat2euler(transformation, axes=self.rotation_config)
+        if degrees:
+            rotation = np.array([np.rad2deg(item) for item in rotation])
+        translation = transformation[:3, 3]
+
+        return translation, rotation
+
+    def get_active_translation_vector_from(self, source_frame):
+        """Extracts the translation vector from the active transformation from the source frame.
+
+        Args:
+            source_frame (ReferenceFrame): Reference frame to get the active transformation from.
+
+        Returns:
+            Translation vector from the active transformation from the source frame.
+        """
+
+        return self.get_active_translation_rotation_vectors_from(source_frame)[0]
+
+    def get_active_rotation_vector_from(self, source_frame, degrees: bool = True):
+        """Extracts the rotation vector from the active transformation from the source frame.
+
+        Args:
+            source_frame (ReferenceFrame): Reference frame to get the active transformation from.
+            degrees (bool): Indicates if the rotation vector should be in degrees rather than radians.
+
+        Returns:
+            Rotation vector from the active transformation from the source frame.
+        """
+
+        return self.get_active_translation_rotation_vectors_from(source_frame, degrees=degrees)[1]
+
+    def _find_ends(
+        self, frame, visited: list = [], ends: list = [], verbose: bool = True, level: int = 1
+    ) -> tuple[list, list]:
+        """Identifies the linked frames.
+
+        We discern between two types of frames:
+            1. Frames that are linked, either directly or indirectly (via multiple links) to the given frame.  These are
+               returned as `visited`.
+            2. Frames of which the reference frame does not belong to the set of linked frames.  These are returned as
+               `final_ends`.
+
+        Args:
+            frame (ReferenceFrame): Reference frame to find the linked frames from.
+            visited (list): List of frames that have already been visited.
+            ends (list): List of frames that have not been visited.
+            verbose (bool): Whether to print the progress.
+            level (int): Recursion level.
+
+        Returns:
+            Frames of which the reference frame does not belong to the set of linked frames.  These are returned as
+               `final_ends`.
+            Frames of which the reference frame does not belong to the set of linked frames.  These are returned as
+               `final_ends`.
+        """
+
+        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.reference_frame not in frame.linked_to:
+                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 linked_frame in frame.linked_to:
+                ends, visited = self._find_ends(linked_frame, visited=visited, ends=ends, verbose=verbose, level=level)
+
+        # If frame.reference_frame was linked to frame via an indirect route, reject it
+
+        final_ends = []
+        for aframe in ends:
+            if aframe.reference_frame not in ends:
+                final_ends.append(aframe)
+
+        return final_ends, visited
+
+    def set_transformation(
+        self, transformation, updated=None, preserve_links: bool = True, relative: bool = False, verbose: bool = True
+    ) -> None:
+        """Alters 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 reference 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 / re-define
+        - 'linkedFrames' as those directly, or indirectly (i.e. via multiple links)
+           linked to the target frame
+        - end_frames as the subset of linked_frames which are not linked to their reference (directly or indirectly)
+        - side_Frames as the set of frames whose reference is a linked_frame, but not themselves belonging to the linked_frames
+
+        We can demonstrate that updating the end_frames (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 side_frames. Indeed,
+        their reference will (directly or implicitly) 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 right transformation to all "end_frames"
+        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 "reference_for" array property
+
+        Args:
+            transformation (np.ndarray): Affine transformation matrix to apply to the frame.
+            updated (list): List of frames that have been updated.
+            preserve_links (bool): Indicates whether the links of the frame should be preserved.
+            relative (bool): Indicates whether the transformation is relative to the current frame.
+            verbose (bool): Indicates whether to print verbose output.
+        """
+
+        # Ruthless, enforced re-definition of one system. Know what you do, or stay away.
+        # Semi-unpredictable side effects if the impacted frame has links!
+
+        if not preserve_links:
+            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
+        end_frames, visited_frames = self._find_ends(frame=self, visited=[], ends=[], verbose=verbose)
+        if verbose:
+            LOGGER.info(f"Visited sub-system                      {[f.name for f in visited_frames]}")
+            LOGGER.info(f"End-frames (movement necessary)         {[f.name for f in end_frames]}")
+
+        # All updates are done by relative movements
+        # so we must first compute the relative movement corresponding to the requested absolute movement
+        if not relative:
+            # 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,
+                reference_frame=self.reference_frame,
+                name="virtual",
+                rotation_config=self.rotation_config,
+            )
+            request = self.get_active_transformation_to(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 implicitly 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 visited_frames:
+            for child in frame.reference_for:
+                # 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 visited_frames:
+                    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)
+
+        temp_master = self.find_master()
+        to_restore = {}
+
+        for frame in impacted:
+            to_restore[frame] = ReferenceFrame(
+                frame.get_active_transformation_from(temp_master),
+                reference_frame=temp_master,
+                name=frame.name + "to_restore",
+                rotation_config=frame.rotation_config,
+            )
+
+        # BLOCK A. apply the right transformation to all "endFrames"
+
+        # Ensure that `untouched` remains unaffected regardless of the update order of the end_frames
+        # self_untouched = ReferenceFrame(
+        #     transformation = self.get_active_transformation_from(temp_master),
+        #     reference_frame=temp_master,
+        #     name=self.name + "_fixed",
+        #     rotation_config=self.rotation_config,
+        # )
+
+        self_untouched = ReferenceFrame(
+            transformation=self.transformation,
+            reference_frame=self.reference_frame,
+            name=self.name + "_fixed",
+            rotation_config=self.rotation_config,
+        )
+
+        for bottom in end_frames:
+            up = bottom.get_active_transformation_to(self_untouched)
+            down = self_untouched.get_active_transformation_to(bottom)
+
+            relative_transformation = 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"\nrelative_transformation \n{np.round(relative_transformation, 3)}")
+
+            bottom.transformation = bottom.transformation @ relative_transformation
+
+            updated.append(bottom)
+
+        for frame in visited_frames:
+            if frame not in updated:
+                updated.append(frame)
+
+        # Block B
+        # B3. Correction
+        # we must set preserve_inks to False in order 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 to_restore:
+            frame.transformation = frame.reference_frame.get_active_transformation_to(to_restore[frame])
+
+        del to_restore
+
+    def set_translation_rotation(
+        self,
+        translation: np.ndarray,
+        rotation: np.ndarray,
+        rotation_config: str = _ROT_CONFIG_DEFAULT,
+        active: bool = _ACTIVE_DEFAULT,
+        degrees: bool = True,
+        preserve_links: bool = True,
+    ) -> None:
+        """Alters the definition of this coordinate system.
+
+        Same as `set_transformation`, but here the input is translation and rotation vectors rather than an affine transformation matrix.
+
+        Args:
+            translation (np.ndarray): Translation vector: 3x1 = tx, ty, tz.
+            rotation (np.ndarray): Rotation vector: 3x1: rx, ry, rz.
+            rotation_config (str): Order in which the rotation about the three axes are chained.
+            active (bool): Indicates whether the rotation is active.
+            degrees (bool): Indicates whether the rotation angles are specified in degrees, rather than radians.
+            preserve_links (bool): Indicates whether the links of the frame should be preserved.
+        """
+
+        translation = np.array(translation)
+        zoom = np.array([1, 1, 1])
+        shear = np.array([0, 0, 0])
+        if degrees:
+            rotation = np.array([np.deg2rad(item) for item in rotation])
+        rotation_x, rotation_y, rotation_z = rotation
+
+        rotation_matrix = RotationMatrix(
+            rotation_x, rotation_y, rotation_z, rotation_config=rotation_config, active=active
+        )
+
+        DEBUG and LOGGER.debug(t3.affines.compose(translation, rotation_matrix.rotation_matrix, Z=zoom, S=shear))
+
+        transformation = t3.affines.compose(translation, rotation_matrix.rotation_matrix, Z=zoom, S=shear)
+
+        self.set_transformation(transformation, preserve_links=preserve_links, relative=False)
+
+    def apply_transformation(self, transformation: np.ndarray, updated=None, preserve_links: bool = True) -> None:
+        """Applies the given transformation to the current reference frame's definition.
+
+        self.transformation := transformation @ self.transformation
+
+        Args:
+            transformation (np.ndarray): Affine transformation matrix.
+            updated (list, optional): List of frames that have been updated.
+            preserve_links (bool): Indicates whether the links of the frame should be preserved.
+        """
+
+        if updated is None:
+            updated = []
+
+        self.set_transformation(
+            transformation=transformation,
+            updated=updated,
+            preserve_links=preserve_links,
+            relative=True,
+        )
+
+    def apply_translation_rotation(
+        self,
+        translation: np.ndarray,
+        rotation: np.ndarray,
+        rotation_config=None,
+        active: bool = _ACTIVE_DEFAULT,
+        degrees: bool = True,
+        preserve_links: bool = True,
+    ) -> None:
+        """Applies the given translation and rotation vectors to the current reference frame's definition.
+
+        self.transformation := transformation @ self.transformation
+
+        Args:
+            translation (np.ndarray): Translation vector.
+            rotation (np.ndarray): Rotation vector.
+            rotation_config (str): Order in which the rotation about the three axes are chained.
+            active (bool): Indicates whether the rotation is active.
+            degrees (bool): Indicates whether the rotation angles are specified in degrees, rather than radians.
+            preserve_links (bool): Indicates whether the links of the frame should be preserved.
+        """
+
+        if rotation_config is None:
+            rotation_config = self.rotation_config
+
+        translation = np.array(translation)
+        zoom = np.array([1, 1, 1])
+        shear = np.array([0, 0, 0])
+
+        if degrees:
+            rotation = np.array([np.deg2rad(item) for item in rotation])
+        rotation_x, rotation_y, rotation_z = rotation
+
+        rotation_matrix = RotationMatrix(
+            rotation_x, rotation_y, rotation_z, rotation_config=rotation_config, active=active
+        )
+
+        transformation = t3.affines.compose(translation, rotation_matrix.rotation_matrix, Z=zoom, S=shear)
+
+        self.apply_transformation(transformation, preserve_links=preserve_links)
+
+    def get_axis(self, axis: str, name: str | None = None):
+        """Returns a unit vector corresponding to the axis of choice in the current reference frame.
+
+        Args:
+            axis(str) : Axis, in ["x","y","z"].
+            name(str) : Name of the point.
+
+        Returns:
+            Point, corresponding to the vectors defining the axis of choice in `self`.
+        """
+
+        unit_vectors = dict()
+
+        unit_vectors["x"] = [1, 0, 0]
+        unit_vectors["y"] = [0, 1, 0]
+        unit_vectors["z"] = [0, 0, 1]
+
+        if name is None:
+            name = self.name + axis
+        from egse.coordinates.point import Point
+
+        return Point(unit_vectors[axis], reference_frame=self, name=name)
+
+    def get_normal(self, name: str | None = None):
+        """Returns a unit vector, normal to the xy-plane.
+
+        This corresponds to [0,0,1] = get_axis("z").
+
+        The output can be used with the Point methods to express that axis in any reference frame.
+
+        Args:
+            name(str | None) : Name of the point.
+
+        Returns:
+            Point, corresponding to the vector defining the normal to the xy-plane in `self`.
+        """
+        from egse.coordinates.point import Point
+
+        return Point([0, 0, 1], reference_frame=self, name=name)
+
+    def get_origin(self, name: str | None = None):
+        """Returns the origin in `self`.
+
+        The output can be used with the Point methods to express that axis in any reference frame.
+
+        Args:
+            name (str | None) : Name of the point.
+
+        Returns:
+            Point, corresponding to the vector defining the origin in 'self', i.e. [0,0,0]
+        """
+
+        from egse.coordinates.point import Point
+
+        return Point([0, 0, 0], reference_frame=self, name=name)
+
+    def is_master(self) -> bool:
+        """Checks whether this reference frame is a master reference frame.
+
+        Returns:
+            True if this reference frame is a master reference frame; False otherwise.
+        """
+        transformation = self.transformation
+
+        return (
+            (self.name == self.reference_frame.name)
+            and (transformation.shape[0] == transformation.shape[1])
+            and np.allclose(transformation, np.eye(transformation.shape[0]))
+        )
+
+    def is_same(self, other) -> bool:
+        """Checks whether this reference frame is the same as another one (except for their name).
+
+        For two reference frames to be considered the same, they must have
+            - The same transformation matrix,
+            - The same reference frame,
+            - The same rotation configuration.
+
+        The name of the reference frames may be different.
+
+        Returns:
+            True if the two reference frames are the same (except for their name); False otherwise.
+
+        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.rotation_config != other.rotation_config:
+                DEBUG and LOGGER.debug("self.rotation_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.reference_frame is self and other.reference_frame is other:
+                DEBUG and LOGGER.debug("both self.reference_frame and other.reference_frame point to themselves")
+                pass
+            else:
+                DEBUG and LOGGER.debug("one of self.reference_frame or other.ref doesn't points to itself")
+                if self.reference_frame != other.reference_frame:
+                    DEBUG and LOGGER.debug("self.reference_frame not equals other.reference_frame")
+                    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,
+            - Their reference frame is equal,
+            - Their rotation configuration is the same
+
+        TODO: Do we want to insist on the name being equal?
+          YES - for strict testing
+          NO  - this might need a new method like is_same(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.rotation_config != other.rotation_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.reference_frame is self and other.reference_frame is other:
+                DEBUG and LOGGER.debug("both self.reference_frame and other.reference_frame point to themselves")
+                pass
+            else:
+                DEBUG and LOGGER.debug("one of self.reference_frame or other.ref doesn't points to itself")
+                if self.reference_frame != other.reference_frame:
+                    DEBUG and LOGGER.debug("self.ref not equals other.reference_frame")
+                    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.rotation_config) + id(self.reference_frame) + id(self.name)) // 16
+        return hash_number
+
+    def __copy__(self):
+        """Overrides the default implementation."""
+
+        DEBUG and LOGGER.debug(
+            f'Copying {self!r} unless {self.name} is "Master" in which case the Master itself is returned.'
+        )
+
+        if self.is_master():
+            DEBUG and LOGGER.debug(f"Returning Master itself instead of a copy.")
+            return self
+
+        return ReferenceFrame(self.transformation, self.reference_frame, self.name, self.rotation_config)