parameters: (self,name,coordinates,parent='relative')
docstring: Sets the coordinates of the frame, given as an se3 element.
          The coordinates can be given either in 'relative' mode, where the
          coordinates are the natural coordinates of the frame relative to
          its parent, or in 'world' mode, where the coordinates are the
          global world coordinates, or they can be given relative to any
          other frame in this coordinate Group.  If None, this defaults
          to the root frame of this Group.
docstring_summary: Sets the coordinates of the frame, given as an se3 element.
          The coordinates can be given either in 'relative' mode, where the
          coordinates are the natural coordinates of the frame relative to
          its parent, or in 'world' mode, where the coordinates are the
          global world coordinates, or they can be given relative to any
          other frame in this coordinate Group.  If None, this defaults
          to the root frame of this Group.
docstring_tokens: Sets the coordinates of the frame given as an se3 element . The coordinates can be given either in relative mode where the coordinates are the natural coordinates of the frame relative to its parent or in world mode where the coordinates are the global world coordinates or they can be given relative to any other frame in this coordinate Group . If None this defaults to the root frame of this Group .
function: def setFrameCoordinates(self,name,coordinates,parent='relative'):
          """Sets the coordinates of the frame, given as an se3 element.
          The coordinates can be given either in 'relative' mode, where the
          coordinates are the natural coordinates of the frame relative to
          its parent, or in 'world' mode, where the coordinates are the
          global world coordinates, or they can be given relative to any
          other frame in this coordinate Group.  If None, this defaults
          to the root frame of this Group."""
          f = self.frame(name)
          if parent==None:
              parent = 'root'
          if isinstance(parent,str):
              if parent=='relative':
                  parent = f._parent
              elif parent=='world':
                  parent = None
              else:
                  parent = self.frames[parent]
          if parent:
              worldCoordinates = se3.mul(parent._worldCoordinates,coordinates)
          else:
              worldCoordinates = coordinates
          if parent == f._parent:
              f._relativeCoordinates = coordinates
          else:
              f._relativeCoordinates = se3.mul(se3.inv(f._parent._worldCoordinates),worldCoordinates)
          f._worldCoordinates = worldCoordinates
          self.updateDependentFrames(f)
function_tokens: def setFrameCoordinates ( self , name , coordinates , parent = 'relative' ) : f = self . frame ( name ) if parent == None : parent = 'root' if isinstance ( parent , str ) : if parent == 'relative' : parent = f . _parent elif parent == 'world' : parent = None else : parent = self . frames [ parent ] if parent : worldCoordinates = se3 . mul ( parent . _worldCoordinates , coordinates ) else : worldCoordinates = coordinates if parent == f . _parent : f . _relativeCoordinates = coordinates else : f . _relativeCoordinates = se3 . mul ( se3 . inv ( f . _parent . _worldCoordinates ) , worldCoordinates ) f . _worldCoordinates = worldCoordinates self . updateDependentFrames ( f )