From 6ac88d39a386b2f505bb43fc7fb78ec61fcb3aa6 Mon Sep 17 00:00:00 2001
From: Michael Winkler <Winkler.B.Michael@gmail.com>
Date: Sun, 3 Nov 2024 21:53:29 +0100
Subject: [PATCH] added as_homogeneous_matrix method to LCS

---
 weldx/transformations/local_cs.py | 26 ++++++++++++++++++++++++++
 1 file changed, 26 insertions(+)

diff --git a/weldx/transformations/local_cs.py b/weldx/transformations/local_cs.py
index 9076a6cbe..99c97c2f4 100644
--- a/weldx/transformations/local_cs.py
+++ b/weldx/transformations/local_cs.py
@@ -728,6 +728,32 @@ def as_rotation(self) -> Rot:  # pragma: no cover
         """
         return Rot.from_matrix(self.orientation.values)
 
+    def as_homogeneous_matrix(self, translation_unit: QuantityLike) -> np.ndarray:
+        """Get a homogeneous transformation matrix from the coordinate system
+        orientation.
+
+        Returns
+        -------
+        numpy.ndarray
+            Numpy array representing the homogeneous transformation matrix.
+
+        """
+
+        if self.is_time_dependent:
+            time_dim = self.time.shape[0]
+        else:
+            time_dim = 1
+
+        rotation = np.resize(self.orientation.data, (time_dim, 3, 3))
+        translation = np.resize(
+            self.coordinates.data.to(translation_unit).m, (time_dim, 3)
+        )
+        homogeneous_matrix = np.zeros((time_dim, 4, 4))
+        homogeneous_matrix[:, :3, :3] = rotation
+        homogeneous_matrix[:, :3, 3] = translation
+
+        return homogeneous_matrix
+
     def _interp_time_orientation(self, time: Time) -> xr.DataArray:
         """Interpolate the orientation in time."""
         if "time" not in self.orientation.dims:  # don't interpolate static