Allow an optional origin in world frame constructors

AUTHORS.md

@@ -46,3 +46,4 @@
 - Eric Gozzi <<eric.gozzi@arch.ethz.ch>> [@ericgozzi](https://github.com/ericgozzi)
 - Daniel Nunes Locatelli <<nuneslocatelli@arch.ethz.ch>> [@daniel-locatelli](https://github.com/daniel-locatelli)
 - Mengxi He <<m.he@lekolabs.com>> [@mengxihex](https://github.com/mengxihex)
+- Arian Moeini [@ArianMoeini](https://github.com/ArianMoeini)

CHANGELOG.md

@@ -9,6 +9,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
+* Added optional origin points to `Frame.worldXY()`, `Frame.worldYZ()`, and `Frame.worldZX()`.
 * Added `TOL.update()` method for explicit global state modification. 
 * Added `TOL.temporary()` context manager for scoped changes.
 * Added missing implementation of `Brep.to_polygons()` in `compas_rhino.geometry.RhinoBrep`.

src/compas/geometry/frame.py

@@ -216,9 +216,14 @@ def axis_angle_vector(self):
     # ==========================================================================
 
     @classmethod
-    def worldXY(cls):  # type: () -> Frame
+    def worldXY(cls, point=None):  # type: (...) -> Frame
         """Construct the world XY frame.
 
+        Parameters
+        ----------
+        point : [float, float, float] | :class:`compas.geometry.Point`, optional
+            The origin of the frame. Defaults to the world origin.
+
         Returns
         -------
         :class:`compas.geometry.Frame`
@@ -233,14 +238,21 @@ def worldXY(cls):  # type: () -> Frame
         Vector(x=1.000, y=0.000, z=0.000)
         >>> print(frame.yaxis)
         Vector(x=0.000, y=1.000, z=0.000)
+        >>> Frame.worldXY([1, 2, 3]).point
+        Point(x=1.000, y=2.000, z=3.000)
 
         """
-        return cls([0, 0, 0], [1, 0, 0], [0, 1, 0])
+        return cls(point if point is not None else [0, 0, 0], [1, 0, 0], [0, 1, 0])
 
     @classmethod
-    def worldZX(cls):  # type: () -> Frame
+    def worldZX(cls, point=None):  # type: (...) -> Frame
         """Construct the world ZX frame.
 
+        Parameters
+        ----------
+        point : [float, float, float] | :class:`compas.geometry.Point`, optional
+            The origin of the frame. Defaults to the world origin.
+
         Returns
         -------
         :class:`compas.geometry.Frame`
@@ -255,14 +267,21 @@ def worldZX(cls):  # type: () -> Frame
         Vector(x=0.000, y=0.000, z=1.000)
         >>> print(frame.yaxis)
         Vector(x=1.000, y=0.000, z=0.000)
+        >>> Frame.worldZX([1, 2, 3]).point
+        Point(x=1.000, y=2.000, z=3.000)
 
         """
-        return cls([0, 0, 0], [0, 0, 1], [1, 0, 0])
+        return cls(point if point is not None else [0, 0, 0], [0, 0, 1], [1, 0, 0])
 
     @classmethod
-    def worldYZ(cls):  # type: () -> Frame
+    def worldYZ(cls, point=None):  # type: (...) -> Frame
         """Construct the world YZ frame.
 
+        Parameters
+        ----------
+        point : [float, float, float] | :class:`compas.geometry.Point`, optional
+            The origin of the frame. Defaults to the world origin.
+
         Returns
         -------
         :class:`compas.geometry.Frame`
@@ -277,9 +296,11 @@ def worldYZ(cls):  # type: () -> Frame
         Vector(x=0.000, y=1.000, z=0.000)
         >>> print(frame.yaxis)
         Vector(x=0.000, y=0.000, z=1.000)
+        >>> Frame.worldYZ([1, 2, 3]).point
+        Point(x=1.000, y=2.000, z=3.000)
 
         """
-        return cls([0, 0, 0], [0, 1, 0], [0, 0, 1])
+        return cls(point if point is not None else [0, 0, 0], [0, 1, 0], [0, 0, 1])
 
     @classmethod
     def from_points(cls, point, point_xaxis, point_xyplane):  # type: (...) -> Frame

tests/compas/geometry/test_frame.py

@@ -72,6 +72,22 @@ def test_frame_predefined():
     assert frame.yaxis == Vector(1, 0, 0)
 
 
+@pytest.mark.parametrize("point", [[0.33, -1.66, 0.444], Point(0.33, -1.66, 0.444)])
+@pytest.mark.parametrize(
+    "constructor,xaxis,yaxis",
+    [
+        (Frame.worldXY, Vector(1, 0, 0), Vector(0, 1, 0)),
+        (Frame.worldYZ, Vector(0, 1, 0), Vector(0, 0, 1)),
+        (Frame.worldZX, Vector(0, 0, 1), Vector(1, 0, 0)),
+    ],
+)
+def test_frame_predefined_at_point(constructor, xaxis, yaxis, point):
+    frame = constructor(point)
+    assert frame.point == Point(0.33, -1.66, 0.444)
+    assert frame.xaxis == xaxis
+    assert frame.yaxis == yaxis
+
+
 def test_interpolate_frame_start_end():
     frame1 = Frame(Point(0, 0, 0), Vector(1, 0, 0), Vector(0, 1, 0))
     frame2 = Frame(Point(1, 1, 1), Vector(0, 0, 1), Vector(0, 1, 0))