Strict quantities

CHANGELOG.rst

@@ -46,6 +46,8 @@ changes
 
 -  Reshape `SpatialData` coordinates to ``(-1, 3)`` before exporting with ``meshio`` for compatibility. [:pull:`723`]
 
+-  `SpatialData`, `LocalCoordinateSystem` and `CoordinateSystemManager` now require units [:pull:`731`]
+
 fixes
 =====
 

tutorials/01_01_introduction.ipynb

@@ -192,7 +192,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.8.12"
+   "version": "3.10.4"
   }
  },
  "nbformat": 4,

tutorials/01_03_geometry.ipynb

@@ -391,7 +391,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.9.9"
+   "version": "3.8.12"
   }
  },
  "nbformat": 4,

tutorials/transformations_01_coordinate_systems.ipynb

@@ -44,7 +44,8 @@
     "from mpl_toolkits.mplot3d import Axes3D  # noqa: F401 unused import\n",
     "\n",
     "import weldx.transformations as tf\n",
-    "import weldx.visualization as vs"
+    "import weldx.visualization as vs\n",
+    "from weldx import Q_"
    ]
   },
   {
@@ -83,11 +84,13 @@
    "outputs": [],
    "source": [
     "# create a translated coordinate system\n",
-    "lcs_01 = tf.LocalCoordinateSystem(coordinates=[2, 4, -1])\n",
+    "lcs_01 = tf.LocalCoordinateSystem(coordinates=Q_([2, 4, -1], \"mm\"))\n",
     "\n",
     "# create a rotated coordinate system using a rotation matrix as basis\n",
     "rotation_matrix = tf.WXRotation.from_euler(\"z\", np.pi / 3).as_matrix()\n",
-    "lcs_02 = tf.LocalCoordinateSystem(orientation=rotation_matrix, coordinates=[0, 0, 3])"
+    "lcs_02 = tf.LocalCoordinateSystem(\n",
+    "    orientation=rotation_matrix, coordinates=Q_([0, 0, 3], \"mm\")\n",
+    ")"
    ]
   },
   {
@@ -132,11 +135,13 @@
     "e_y = [-2, 1, 0]\n",
     "e_z = [0, 0, 5]\n",
     "lcs_03 = tf.LocalCoordinateSystem.from_axis_vectors(\n",
-    "    x=e_x, y=e_y, z=e_z, coordinates=[1, 1, 0]\n",
+    "    x=e_x, y=e_y, z=e_z, coordinates=Q_([1, 1, 0], \"mm\")\n",
     ")\n",
     "\n",
     "# create a negatively oriented coordinate system with 2 vectors\n",
-    "lcs_04 = tf.LocalCoordinateSystem.from_axis_vectors(y=e_y, z=e_z, coordinates=[1, 1, 2])"
+    "lcs_04 = tf.LocalCoordinateSystem.from_axis_vectors(\n",
+    "    y=e_y, z=e_z, coordinates=Q_([1, 1, 2], \"mm\")\n",
+    ")"
    ]
   },
   {
@@ -178,10 +183,10 @@
    "source": [
     "# create a coordinate system by a 90° rotation around the x axis and subsequent 45° rotation around the y axis\n",
     "lcs_05 = tf.LocalCoordinateSystem.from_euler(\n",
-    "    sequence=\"x\", angles=90, degrees=True, coordinates=[1, -1, 0]\n",
+    "    sequence=\"x\", angles=90, degrees=True, coordinates=Q_([1, -1, 0], \"mm\")\n",
     ")\n",
     "lcs_06 = tf.LocalCoordinateSystem.from_euler(\n",
-    "    sequence=\"xy\", angles=[90, 45], degrees=True, coordinates=[2, -2, 0]\n",
+    "    sequence=\"xy\", angles=[90, 45], degrees=True, coordinates=Q_([2, -2, 0], \"mm\")\n",
     ")"
    ]
   },
@@ -340,7 +345,7 @@
     "    rot_z = tf.WXRotation.from_euler(\"z\", rot_angles[2]).as_matrix()\n",
     "\n",
     "    orientation = np.matmul(rot_z, np.matmul(rot_y, rot_x))\n",
-    "    location = [t_x, t_y, t_z]\n",
+    "    location = Q_([t_x, t_y, t_z], \"mm\")\n",
     "    return [orientation, location]\n",
     "\n",
     "\n",
@@ -582,7 +587,7 @@
    "outputs": [],
    "source": [
     "lcs_child_in_parent = tf.LocalCoordinateSystem.from_euler(\n",
-    "    sequence=\"xy\", angles=[90, 45], degrees=True, coordinates=[2, 3, 0]\n",
+    "    sequence=\"xy\", angles=[90, 45], degrees=True, coordinates=Q_([2, 3, 0], \"mm\")\n",
     ")\n",
     "lcs_parent_in_child = lcs_child_in_parent.invert()"
    ]
@@ -691,7 +696,7 @@
     "time = [\"2010-02-01\", \"2010-02-02\"]\n",
     "\n",
     "orientation_mov = [[0, -1, 0], [1, 0, 0], [0, 0, 1]]\n",
-    "coordinates_mov = [[-3, 0, 0], [0, 0, 2]]\n",
+    "coordinates_mov = Q_([[-3, 0, 0], [0, 0, 2]], \"mm\")\n",
     "lcs_mov_in_ref = tf.LocalCoordinateSystem(\n",
     "    orientation=orientation_mov, coordinates=coordinates_mov, time=time\n",
     ")\n",
@@ -700,12 +705,12 @@
     "    [[1, 0, 0], [0, 1, 0], [0, 0, 1]],\n",
     "    [[0, -1, 0], [1, 0, 0], [0, 0, 1]],\n",
     "]\n",
-    "coordinates_rot = [1, 0, 2]\n",
+    "coordinates_rot = Q_([1, 0, 2], \"mm\")\n",
     "lcs_rot_in_ref = tf.LocalCoordinateSystem(\n",
     "    orientation=orientation_rot, coordinates=coordinates_rot, time=time\n",
     ")\n",
     "\n",
-    "coordinates_movrot = [[0, 3, 0], [-2, 3, 2]]\n",
+    "coordinates_movrot = Q_([[0, 3, 0], [-2, 3, 2]], \"mm\")\n",
     "orientation_movrot = [\n",
     "    [[1, 0, 0], [0, 1, 0], [0, 0, 1]],\n",
     "    [[0, -1, 0], [1, 0, 0], [0, 0, 1]],\n",
@@ -768,7 +773,7 @@
     "# original coordinate system\n",
     "time = [\"2010-02-02\", \"2010-02-07\"]\n",
     "\n",
-    "coordinates_tdp = [[0, 3, 0], [-2, 3, 2]]\n",
+    "coordinates_tdp = Q_([[0, 3, 0], [-2, 3, 2]], \"mm\")\n",
     "orientation_tdp = [\n",
     "    [[1, 0, 0], [0, 1, 0], [0, 0, 1]],\n",
     "    [[0, -1, 0], [1, 0, 0], [0, 0, 1]],\n",
@@ -867,13 +872,16 @@
    "outputs": [],
    "source": [
     "lcs_target_in_ref = tf.LocalCoordinateSystem.from_euler(\n",
-    "    sequence=\"zy\", angles=[90, 45], degrees=True, coordinates=[2, -2, 0]\n",
+    "    sequence=\"zy\", angles=[90, 45], degrees=True, coordinates=Q_([2, -2, 0], \"mm\")\n",
     ")\n",
     "lcs_ref_in_target = lcs_target_in_ref.invert()\n",
     "\n",
-    "points_in_ref = np.array(\n",
-    "    [[-1, 1, 0], [1, 1, 0], [1, -1, 0], [-1, -1, 0], [-1, 1, 0]], dtype=float\n",
-    ").transpose()\n",
+    "points_in_ref = Q_(\n",
+    "    np.array(\n",
+    "        [[-1, 1, 0], [1, 1, 0], [1, -1, 0], [-1, -1, 0], [-1, 1, 0]], dtype=float\n",
+    "    ).transpose(),\n",
+    "    \"mm\",\n",
+    ")\n",
     "\n",
     "# Transform points to target system\n",
     "points_in_target = (\n",
@@ -908,7 +916,7 @@
     "    limits=(-3, 3),\n",
     "    title=\"Data in original system\",\n",
     ")\n",
-    "ax_0_trans.plot(points_in_ref[0], points_in_ref[1], points_in_ref[2])\n",
+    "ax_0_trans.plot(points_in_ref[0].m, points_in_ref[1].m, points_in_ref[2].m)\n",
     "\n",
     "\n",
     "# second plot\n",
@@ -921,7 +929,7 @@
     "    limits=(-3, 3),\n",
     "    title=\"Data in original system\",\n",
     ")\n",
-    "ax_1_trans.plot(points_in_target[0], points_in_target[1], points_in_target[2])"
+    "ax_1_trans.plot(points_in_target[0].m, points_in_target[1].m, points_in_target[2].m)"
    ]
   },
   {
@@ -946,7 +954,7 @@
    "outputs": [],
    "source": [
     "time = pd.TimedeltaIndex([0, 5], \"D\")\n",
-    "coordinates_tdp = [[0, 3, 0], [-2, 3, 2]]\n",
+    "coordinates_tdp = Q_([[0, 3, 0], [-2, 3, 2]], \"mm\")\n",
     "orientation_tdp = [\n",
     "    [[1, 0, 0], [0, 1, 0], [0, 0, 1]],\n",
     "    [[0, -1, 0], [1, 0, 0], [0, 0, 1]],\n",
@@ -1020,7 +1028,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.9.4"
+   "version": "3.8.12"
   }
  },
  "nbformat": 4,

tutorials/transformations_02_coordinate_system_manager.ipynb

@@ -38,7 +38,8 @@
     "from mpl_toolkits.mplot3d import Axes3D  # noqa: F401 unused import\n",
     "\n",
     "import weldx.transformations as tf\n",
-    "import weldx.visualization as vs"
+    "import weldx.visualization as vs\n",
+    "from weldx import Q_"
    ]
   },
   {
@@ -80,12 +81,17 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "lcs_specimen_in_root = tf.LocalCoordinateSystem(coordinates=[0, 1, -2])\n",
+    "lcs_specimen_in_root = tf.LocalCoordinateSystem(coordinates=Q_([0, 1, -2], \"mm\"))\n",
     "\n",
     "csm.create_cs_from_euler(\n",
-    "    \"flange\", \"root\", sequence=\"x\", angles=20, degrees=True, coordinates=[-1, -1, 2]\n",
+    "    \"flange\",\n",
+    "    \"root\",\n",
+    "    sequence=\"x\",\n",
+    "    angles=20,\n",
+    "    degrees=True,\n",
+    "    coordinates=Q_([-1, -1, 2], \"mm\"),\n",
     ")\n",
-    "csm.create_cs(\"torch\", \"flange\", coordinates=[0, 0, -1])\n",
+    "csm.create_cs(\"torch\", \"flange\", coordinates=Q_([0, 0, -1], \"mm\"))\n",
     "csm.add_cs(\"specimen\", \"root\", lcs_specimen_in_root)"
    ]
   },
@@ -265,7 +271,9 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "csm.add_cs(\"torch\", \"flange\", tf.LocalCoordinateSystem(coordinates=[0, 0, -2]))"
+    "csm.add_cs(\n",
+    "    \"torch\", \"flange\", tf.LocalCoordinateSystem(coordinates=Q_([0, 0, -2], \"mm\"))\n",
+    ")"
    ]
   },
   {
@@ -381,24 +389,27 @@
    "outputs": [],
    "source": [
     "sensor_positions_in_root = xr.DataArray(\n",
-    "    [[0, -1, 0], [0, -2, 0]], dims=[\"n\", \"c\"], coords={\"c\": [\"x\", \"y\", \"z\"]}\n",
+    "    Q_([[0, -1, 0], [0, -2, 0]], \"mm\"), dims=[\"n\", \"c\"], coords={\"c\": [\"x\", \"y\", \"z\"]}\n",
     ")\n",
     "\n",
     "specimen_geometry_in_specimen = xr.DataArray(\n",
-    "    [\n",
-    "        [0, 1, 0],\n",
-    "        [1, 1, 0],\n",
-    "        [2, 1, 0],\n",
-    "        [0, 2, 0],\n",
-    "        [1, 2, 0],\n",
-    "        [2, 2, 0],\n",
-    "        [0, 3, 0],\n",
-    "        [1, 3, 0],\n",
-    "        [2, 3, 0],\n",
-    "        [0, 4, 0],\n",
-    "        [1, 4, 0],\n",
-    "        [2, 4, 0],\n",
-    "    ],\n",
+    "    Q_(\n",
+    "        [\n",
+    "            [0, 1, 0],\n",
+    "            [1, 1, 0],\n",
+    "            [2, 1, 0],\n",
+    "            [0, 2, 0],\n",
+    "            [1, 2, 0],\n",
+    "            [2, 2, 0],\n",
+    "            [0, 3, 0],\n",
+    "            [1, 3, 0],\n",
+    "            [2, 3, 0],\n",
+    "            [0, 4, 0],\n",
+    "            [1, 4, 0],\n",
+    "            [2, 4, 0],\n",
+    "        ],\n",
+    "        \"mm\",\n",
+    "    ),\n",
     "    dims=[\"n\", \"c\"],\n",
     "    coords={\"c\": [\"x\", \"y\", \"z\"]},\n",
     ")\n",
@@ -506,16 +517,16 @@
    "outputs": [],
    "source": [
     "parent_time = pd.TimedeltaIndex([1, 6], \"D\")\n",
-    "parent_coords = [[1, -1, 0], [0, -1, 0]]\n",
+    "parent_coords = Q_([[1, -1, 0], [0, -1, 0]], \"mm\")\n",
     "parent_orientation = -tf.WXRotation.from_euler(\"z\", [0, np.pi / 2]).as_matrix()\n",
     "\n",
     "child_time = pd.TimedeltaIndex([2, 5], \"D\")\n",
-    "child_coords = [0, 2, 0]\n",
+    "child_coords = Q_([0, 2, 0], \"mm\")\n",
     "child_orientation = tf.WXRotation.from_euler(\"z\", [0, np.pi / 2]).as_matrix()\n",
     "\n",
     "\n",
     "childchild_time = pd.TimedeltaIndex([3, 4], \"D\")\n",
-    "childchild_coords = [2, 0, 0]\n",
+    "childchild_coords = Q_([2, 0, 0], \"mm\")\n",
     "childchild_orientation = tf.WXRotation.from_euler(\"z\", [0, np.pi / 2]).as_matrix()\n",
     "\n",
     "\n",
@@ -689,9 +700,9 @@
    "outputs": [],
    "source": [
     "csm_robot = tf.CoordinateSystemManager(\"robot head\", \"robot coordinate systems\")\n",
-    "csm_robot.create_cs(\"torch\", \"robot head\", coordinates=[0, 0, -2])\n",
-    "csm_robot.create_cs(\"mount point 1\", \"robot head\", coordinates=[0, 1, -1])\n",
-    "csm_robot.create_cs(\"mount point 2\", \"robot head\", coordinates=[0, -1, -1])\n",
+    "csm_robot.create_cs(\"torch\", \"robot head\", coordinates=Q_([0, 0, -2], \"mm\"))\n",
+    "csm_robot.create_cs(\"mount point 1\", \"robot head\", coordinates=Q_([0, 1, -1], \"mm\"))\n",
+    "csm_robot.create_cs(\"mount point 2\", \"robot head\", coordinates=Q_([0, -1, -1], \"mm\"))\n",
     "csm_robot"
    ]
   },
@@ -709,7 +720,7 @@
    "outputs": [],
    "source": [
     "csm_scanner = tf.CoordinateSystemManager(\"scanner\", \"scanner coordinate systems\")\n",
-    "csm_scanner.create_cs(\"mount point 1\", \"scanner\", coordinates=[0, 0, 2])\n",
+    "csm_scanner.create_cs(\"mount point 1\", \"scanner\", coordinates=Q_([0, 0, 2], \"mm\"))\n",
     "csm_scanner"
    ]
   },
@@ -746,8 +757,8 @@
    "outputs": [],
    "source": [
     "csm_specimen = tf.CoordinateSystemManager(\"specimen\", \"specimen coordinate systems\")\n",
-    "csm_specimen.create_cs(\"thermocouple 1\", \"specimen\", coordinates=[1, 1, 0])\n",
-    "csm_specimen.create_cs(\"thermocouple 2\", \"specimen\", coordinates=[1, 4, 0])\n",
+    "csm_specimen.create_cs(\"thermocouple 1\", \"specimen\", coordinates=Q_([1, 1, 0], \"mm\"))\n",
+    "csm_specimen.create_cs(\"thermocouple 2\", \"specimen\", coordinates=Q_([1, 4, 0], \"mm\"))\n",
     "csm_specimen"
    ]
   },
@@ -758,8 +769,8 @@
    "outputs": [],
    "source": [
     "csm_global = tf.CoordinateSystemManager(\"root\", \"global coordinate systems\")\n",
-    "csm_global.create_cs(\"specimen\", \"root\", coordinates=[1, 2, 3])\n",
-    "csm_global.create_cs(\"robot head\", \"root\", coordinates=[4, 5, 6])\n",
+    "csm_global.create_cs(\"specimen\", \"root\", coordinates=Q_([1, 2, 3], \"mm\"))\n",
+    "csm_global.create_cs(\"robot head\", \"root\", coordinates=Q_([4, 5, 6], \"mm\"))\n",
     "csm_global"
    ]
   },
@@ -907,7 +918,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.9.2"
+   "version": "3.8.12"
   }
  },
  "nbformat": 4,

weldx/asdf/cli/welding_schema.py

@@ -98,7 +98,7 @@ def single_pass_weld_example(
 
     rot = WXRotation.from_euler(seq="x", angles=180, degrees=True)
 
-    coords = [tcp_start_point.magnitude, tcp_end_point.magnitude]
+    coords = Q_([tcp_start_point.magnitude, tcp_end_point.magnitude], "mm")
 
     tcp_wire = lcs(coordinates=coords, orientation=rot, time=[t_start, t_end])
 
@@ -109,7 +109,7 @@ def single_pass_weld_example(
         lcs=tcp_wire,
     )
 
-    tcp_contact = lcs(coordinates=[0, 0, -10])
+    tcp_contact = lcs(coordinates=Q_([0, 0, -10], "mm"))
 
     # add the workpiece coordinate system
     csm.add_cs(