prophys.frames

Coordinate frames and the transforms between them.

Every spatial structure is declared in a Frame. Combining structures from frames without a registered FrameTransform raises FrameError when the expression is built.

Classes

Frame	A named 2D or 3D coordinate system that spatial structures live in.
FrameRegistry	Registry of transforms between frames, looked up when points are aligned.
FrameTransform	A differentiable affine map between two frames: y = R @ x + t.

Exceptions

FrameError

Raised when two structures with incompatible frames are combined.

Constants and objects

default_registry

Registry of transforms between frames, looked up when points are aligned.