Tasks Placement: Difference between revisions

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<languages/>
==Overview==
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"Placement" is how FreeCAD specifies the location and attitude of an object in space. Placement can be specified in multiple forms.


==Description== <!--T:1-->
A practical example of the use of this command is located in the tutorial [[Aeroplane|Aeroplane]].


<!--T:2-->
==Angle, Axis and Position==
Command for modifying '''Placement'''.
[[Image:PlacementPropertiesv10.png|frame|left|Properties affecting Placement]]
These options relate only to the position and orientation of the object in space, they do not affect other attributes of the shape. The placement is stored internally as a position, and a rotation (rotation axis and angle transformed into a [https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation quaternion]). While there are several methods to specify a rotation, for instance with a rotation center, this is only used to affect the rotation computation and is not stored for later operations. Similarly, if a rotation axis of (1,1,1) is specified, it may be normalized when stored in the quaternion and appear as (0.58, 0.58, 0.58) when browsing the object later.
{{clear}}
Placement = [Angle, Axis, Position]


==Usage== <!--T:4-->
Angle = r is a scalar indicating the amount of rotation of the object about Axis. Entered as degrees, but stored internally as radians.


<!--T:28-->
Axis = (ax,ay,az) is a unit vector describing an axis of rotation (See Note about axis of rotation). Examples are:
The function '''Placement''' can be accessed in several ways:
* via [[Python_scripting_tutorial#Vecteurs_et_Positions|script]] Python in the console and its [[Placement_API|API]].
(1,0,0) ==> about '''X''' axis
:[[Image:PlacePyConv10.png|Scripting Placement as y/p/r and Matrix]]
(0,1,0) ==> about '''Y''' axis
* or, in the window '''Combo View → Properties → Data → Placement → {{KEY|...}}''',
(0,0,1) ==> about '''Z''' axis
:[[Image:Tache_Placement_fr_01.png|Task_Placement]]
(0.71,0.71,0) ==> about the line '''y=x'''
* or by the menu '''Edit → Placement...'''.
Position = (x,y,z) is a Vector describing the world coordinates of the reference point of the object.


===Enable Placement in Combo View=== <!--T:7-->


<!--T:8-->
==Position and Yaw, Pitch and Roll==
* Click a shape to select it.
[[Image:PlacePyConv10.png|frame|left|Placement as Yaw, Pitch and Roll]]
* Click '''Placement''' (the title, not the little arrow), and a button with an ellipsis {{KEY|...}} appears: [[Image:Tache_Placement_01_fr_00.png|384px|Tache_Placement]]
* Click on the ellipsis, and the {{MenuCommand|Placement Dialog}} is displayed:


<!--T:11-->
Placement = [Position, Yaw-Pitch-Roll]
:[[File:Tache_Placement_en_02.png]]


===Options=== <!--T:33-->
Position = (x,y,z) is a Vector describing the world coordinates of the reference point of the object.


<!--T:34-->
Yaw-Pitch-Roll = (y,p,r) is a tuple that specifies the attitude of the object. Values for y,p,r specify degrees of rotation about each of z,y,x. Sometimes referred to as "Euler angles". (http://en.wikipedia.org/wiki/Euler_angles)
{{TitleProperty|Translation}}


<!--T:12-->
==Matrix==
* {{TasksTag|X}} [[File:Tache_Placement_Translation_X_fr.gif|150px|Translation in X direction (Click to enlarge)]] Moves the coordinate system of the object in the '''X''' direction in relation to the axis coordinates of origin 0, 0, 0.
(see illustration of Python console)
* {{TasksTag|Y}} [[File:Tache_Placement_Translation_Y_fr.gif|150px|Translation in the Y direction (Click to enlarge)]] Moves the coordinate system of the object in the '''Y''' direction in relation to the axis coordinates of origin 0, 0, 0.
Placement = Matrix is a 4x4 affine transformation matrix (http://en.wikipedia.org/wiki/Affine_transformation) of the form:
* {{TasksTag|Z}} [[File:Tache_Placement_Translation_Z_fr.gif|150px|Translation in the Z direction (Click to enlarge)]] Moves the coordinate system of the object in the '''Z''' direction in relation to the axis coordinates of origin 0, 0, 0.


<!--T:35-->
((r11,r12,r13,t1),
{{TitleProperty|Center}}
(r21,r22,r23,t2),
(r31,r32,r33,t3),
(0,0,0,1)) , with rij specifying rotation and ti specifying translation.


<!--T:13-->
* {{TasksTag|X}}: Move the center of rotation in the direction '''X''', from the coordinates of the selected object. (default: 0,0,0).
* {{TasksTag|Y}}: Move the center of rotation in the direction '''Y''', from the coordinates of the selected object. (default: 0,0,0).
* {{TasksTag|Z}}: Move the center of rotation in the direction '''Z''', from the coordinates of the selected object. (default: 0,0,0).
* {{TasksTag|User Defined...}}: Allows you to change the three axes ('''X, Y, Z''') in a single operation [[Image:Part_Revolve_fr_06.png|96px|User Defined]].


<!--T:36-->
==Placement Dialog==
{{TitleProperty|Rotation}}
[[Image:PlacementDialogv10.png|frame|left|Placement Dialog]]


<!--T:14-->
The Placement Dialog is invoked from the '''Edit''' menu. It is used to precisely rotate/translate objects. It is also used when we need to create a sketch on a "non standard" plane or change a sketch's orientation to a new plane.
To adjust our '''rotation parameters''' we have two methods available.


<!--T:29-->
* First option. Select ''' Rotation axis with angle '''[[Image:Tache_Placement_fr_05.png|384px|Tache_Placement Option rotation axis and angle]] (Default).
** {{TasksTag|Axis: X}}: The rotation will be on the '''X''' axis.
** {{TasksTag|Axis: Y}}: The rotation will be on the '''Y''' axis.
** {{TasksTag|Axis: Z}}: The rotation will be on the '''Z''' axis. (Default axis).
** {{TasksTag|Angle:}} Angle of rotation in degrees from '''-360.00 °''' to '''360.00 °'''. (Default: '''0.00°''').


<!--T:15-->
The '''Apply incremental changes to object placement''' tick box is useful when translations/rotations are to be made relative the object's current position/attitude, rather than to the original position/attitude. .
* Second option. Select '''Euler Angles''' [[Image:Tache_Placement_fr_04.png|384px|Tache_Placement Option Euler angles]].


<!--T:16-->
This option may be easier to work with, however, even in this mode, there are important things to remember: Positive rotations are in the '''clockwise''' direction, looking '''out''' from the origin along a positive axis. Or to put it differently, the rotations are positive in the '''counterclockwise''' direction, looking '''in''' to the origin along a positive axis.


<!--T:18-->
==Notes==
:* <div id="Yaw"></div>'''[https://en.wikipedia.org/wiki/Flight_dynamics_(fixed-wing_aircraft) Yaw]''' : is a horizontal rotation of a body about a vertical axis. (The symbol '''ψ''' is often used for yaw.)
* The axis of rotation isn't really the x/y/z axis. It is a line parallel to the selected axis, but passing through the Position point.
:* <div id="Pitch"></div>'''[https://en.wikipedia.org/wiki/Flight_dynamics_(fixed-wing_aircraft) Pitch]''' : is defined as an oscillating movement of a vessel fore and aft.
* The reference point of an object varies depending on the object. Some examples for common objects:
:* <div id="Roll"></div>'''[https://en.wikipedia.org/wiki/Flight_dynamics_(fixed-wing_aircraft) Roll]''' : is a rotary movement of a body about its longitudinal axis (roll axis).


<!--T:19-->
{| class="wikitable" border="1"
Yaw, pitch and roll refer to the '''attitude''' of an object in 3D space. These terms are commonly used in aviation. The angles are the '''Tait-Bryan angles'''. If you want more information, read [https://en.wikipedia.org/wiki/Euler_angles Euler angles].
!Object!!Reference Point
|- align="left"
|Part.Box ||left (minx), front (miny), bottom (minz) vertex
|- align="left"
|Part.Sphere||centre of the sphere (ie centre of bounding box)
|- align="left"
|Part.Cylinder||centre of the bottom face
|- align="left"
|Part.Cone||centre of bottom face (or apex if bottom radius is 0)
|- align="left"
|Part.Torus||centre of the bounding box
|- align="left"
|Features derived from Sketches||the Feature inherits the Position of the underlying Sketch. Sketches always start with Position = (0,0,0).
|}


<!--T:21-->
[[Image:Tache_Placement_en_03.png|None|Option Euler angles]]


<!--T:22-->
==Issues==
[[Image:Tache_Placement_Lacet_fr_Mini.gif|None|Yaw]]
* As of version 0.13, update of Placement properties in the Data tab has been disabled for objects created with PartDesign. Placement functionality will eventually be handled in the Assembly workbench.
* {{TasksTag|yaw axis}} '''Yaw is the rotation about the Z axis''', that is to say a rotation from left to right. (The Yaw angle is the '''Psi ψ'''). Value '''-360.00 °''' to '''360.00 ° '''(Default, '''0.00 °''').


<!--T:23-->
{{clear}}
[[Image:Tache_Placement_Tangage_fr_Mini.gif|None|Pitch]]
* {{TasksTag|pitch axis}} '''Pitch is rotation about the Y axis''', that is to say nose-up and nose-down. (The Pitch angle is the '''Phi φ'''). Value '''-360.00 °''' to '''360.00 ° '''(Default, '''0.00 °''').


<!--T:24-->
{{docnav|????|????}}
[[Image:Tache_Placement_Roulis_fr_ Mini.gif|None|Roll]]
* {{TasksTag|roll axis}} '''Roll is rotation about the X axis''', that is to say wing up and down. (The Roll angle is the '''Thêta θ'''). Value '''-360.00 °''' to '''360.00 ° '''(Default, '''0.00 °''').


<!--T:25-->
<br>
* {{TasksTag|Apply incremental changes}} to the placement of the object: Once selected, this option '''virtually''' sets all parameters to zero, to allow you to enter your values ​​without having to calculate with the original parameters of the form. Once you have confirmed with {{KEY|OK}}, the entered values ​​will be added to the values ​​on the form.
[[Category:User_Documentation]]
[[Category:Command_Reference]]


<!--T:26-->
{{languages | {{fr|Tasks_Placement/fr}} {{it|Tasks_Placement/it}} }}
* The {{KEY|Reset}} returns all values ​​to '''0,0,0'''.

==Links and Example== <!--T:30-->

<!--T:31-->
A practical example of using this command is in the tutorial [[Aeroplane|Aeroplane]].

<!--T:32-->
Other explanation on [[Placement|Placement]].


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{{Userdocnavi{{#translation:}}}}
[[Category:Command_Reference{{#translation:}}]]

Latest revision as of 14:58, 5 August 2023

Description

Command for modifying Placement. These options relate only to the position and orientation of the object in space, they do not affect other attributes of the shape. The placement is stored internally as a position, and a rotation (rotation axis and angle transformed into a quaternion). While there are several methods to specify a rotation, for instance with a rotation center, this is only used to affect the rotation computation and is not stored for later operations. Similarly, if a rotation axis of (1,1,1) is specified, it may be normalized when stored in the quaternion and appear as (0.58, 0.58, 0.58) when browsing the object later.

Usage

The function Placement can be accessed in several ways:

  • via script Python in the console and its API.
Scripting Placement as y/p/r and Matrix
  • or, in the window Combo View → Properties → Data → Placement → ...,
Task_Placement
  • or by the menu Edit → Placement....

Enable Placement in Combo View

  • Click a shape to select it.
  • Click Placement (the title, not the little arrow), and a button with an ellipsis ... appears: Tache_Placement
  • Click on the ellipsis, and the Placement Dialog is displayed:

Options

Translation

  • TASKS X Translation in X direction (Click to enlarge) Moves the coordinate system of the object in the X direction in relation to the axis coordinates of origin 0, 0, 0.
  • TASKS Y Translation in the Y direction (Click to enlarge) Moves the coordinate system of the object in the Y direction in relation to the axis coordinates of origin 0, 0, 0.
  • TASKS Z Translation in the Z direction (Click to enlarge) Moves the coordinate system of the object in the Z direction in relation to the axis coordinates of origin 0, 0, 0.

Center

  • TASKS X: Move the center of rotation in the direction X, from the coordinates of the selected object. (default: 0,0,0).
  • TASKS Y: Move the center of rotation in the direction Y, from the coordinates of the selected object. (default: 0,0,0).
  • TASKS Z: Move the center of rotation in the direction Z, from the coordinates of the selected object. (default: 0,0,0).
  • TASKS User Defined...: Allows you to change the three axes (X, Y, Z) in a single operation User Defined.

Rotation

To adjust our rotation parameters we have two methods available.

  • First option. Select Rotation axis with angle Tache_Placement Option rotation axis and angle (Default).
    • TASKS Axis: X: The rotation will be on the X axis.
    • TASKS Axis: Y: The rotation will be on the Y axis.
    • TASKS Axis: Z: The rotation will be on the Z axis. (Default axis).
    • TASKS Angle: Angle of rotation in degrees from -360.00 ° to 360.00 °. (Default: 0.00°).
  • Second option. Select Euler Angles Tache_Placement Option Euler angles.

This option may be easier to work with, however, even in this mode, there are important things to remember: Positive rotations are in the clockwise direction, looking out from the origin along a positive axis. Or to put it differently, the rotations are positive in the counterclockwise direction, looking in to the origin along a positive axis.

  • Yaw : is a horizontal rotation of a body about a vertical axis. (The symbol ψ is often used for yaw.)
  • Pitch : is defined as an oscillating movement of a vessel fore and aft.
  • Roll : is a rotary movement of a body about its longitudinal axis (roll axis).

Yaw, pitch and roll refer to the attitude of an object in 3D space. These terms are commonly used in aviation. The angles are the Tait-Bryan angles. If you want more information, read Euler angles.

Option Euler angles

Yaw

  • TASKS yaw axis Yaw is the rotation about the Z axis, that is to say a rotation from left to right. (The Yaw angle is the Psi ψ). Value -360.00 ° to 360.00 ° (Default, 0.00 °).

Pitch

  • TASKS pitch axis Pitch is rotation about the Y axis, that is to say nose-up and nose-down. (The Pitch angle is the Phi φ). Value -360.00 ° to 360.00 ° (Default, 0.00 °).

Roll

  • TASKS roll axis Roll is rotation about the X axis, that is to say wing up and down. (The Roll angle is the Thêta θ). Value -360.00 ° to 360.00 ° (Default, 0.00 °).
  • TASKS Apply incremental changes to the placement of the object: Once selected, this option virtually sets all parameters to zero, to allow you to enter your values ​​without having to calculate with the original parameters of the form. Once you have confirmed with OK, the entered values ​​will be added to the values ​​on the form.
  • The Reset returns all values ​​to 0,0,0.

Links and Example

A practical example of using this command is in the tutorial Aeroplane.

Other explanation on Placement.