# 3.3.1.49. NXtransformationsΒΆ

**Status**:

contributed definition, extends NXobject, version 1.1

**Description**:

Collection of axis-based translations and rotations to describe a geometry. May also contain axes that do not move and therefore do not have a transformation type specified, but are useful in understanding coordinate frames within which transformations are done, or in documenting important directions, such as the direction of gravity.

A nested sequence of transformations lists the offset and rotation steps needed to describe the position and orientation of any movable or fixed device.

There will be one or more transformations (axes) defined by one or more fields for each transformation. The all-caps name

`AXISNAME`

designates the particular axis generating a transformation (e.g. a rotation axis or a translation axis or a general axis). The all-caps name`AXISUNITS`

designates the units appropriate to the transformation_type value, i.e.`NX_LENGTH`

for`translation`

,`NX_ANGLE`

for`rotation`

, and`NX_UNITLESS`

for axes for which no transformation type is specified.This class will usually contain all axes of a sample stage or goniometer or a detector. The NeXus default McSTAS coordinate frame is assumed, but additional useful coordinate axes may be defined by using axes for which no transformation type has been specified.

The entry point (

`depends_on`

) will be outside of this class and point to a field in here. Following the chain may also require following`depends_on`

links to transformations outside, for example to a common base table. If a relative path is given, it is relative to the group enclosing the`depends_on`

specification.TODO: this needs an equation (issue #484)

**Symbols**:

No symbol table

**Groups cited**:- none

**Structure**:

AXISNAME: NX_NUMBER {units=AXISUNITS}Units need to be appropriate for translation or rotation

The name of this field is not forced. The user is free to use any name that does not cause confusion. When using more than one

`AXISNAME`

field, make sure that each field name is unique in the same group, as required by HDF5.The values given should be the start points of exposures for the corresponding frames. The end points should be given in

`AXISNAME_end`

.

@transformation_type: NX_CHARThe transformation_type may be

`translation`

, in which case the values are linear displacements along the axis,`rotation`

, in which case the values are angular rotations around the axis.If this attribute is omitted, this is an axis for which there is no motion to be specifies, such as the direction of gravity, or the direction to the source, or a basis vector of a coordinate frame.

Any of these values:

`translation`

|`rotation`

@vector: NX_NUMBER {units=NX_DIMENSIONLESS}Three values that define the axis for this transformation. The axis should be normalized to unit length, making it dimensionless. For`rotation`

axes, the direction should be chosen for a right-handed rotation with increasing angle. For`translation`

axes the direction should be chosen for increasing displacement.

@offset: NX_NUMBERA fixed offset applied before the transformation (three vector components).

@offset_units: NX_CHARUnits of the offset. Values should be consistent with NX_LENGTH.

@depends_on: NX_CHARPoints to the path to a field defining the axis on which this depends or the string ”.”.

AXISNAME_end: (optional) NX_NUMBER {units=AXISUNITS}

`AXISNAME_end`

is a placeholder for a name constructed from the actual name of an axis to which`_end`

has been appended.The values in this field are the end points of the motions that start at the corresponding positions given in the

`AXISNAME`

field.

AXISNAME_increment_set: (optional) NX_NUMBER {units=AXISUNITS}

`AXISNAME_increment_set`

is a placeholder for a name constructed from the actual name of an axis to which`_increment_set`

has been appended.The value of this optional field is the intended average range through which the corresponding axis moves during the exposure of a frame. Ideally, the value of this field added to each value of

`AXISNAME`

would agree with the corresponding values of`AXISNAME_end`

, but there is a possibility of significant differences. Use of`AXISNAME_end`

is recommended.