@classmethod
def from_transformation(cls, transformation):
    """Constructs a frame from a ``Transformation``.

        Parameters
        ----------
        transformation : :class:`compas.geometry.Transformation`
            The transformation defines the orientation of the frame through the
            rotation and the origin through the translation.

        Returns
        -------
        :class:`compas.geometry.Frame`
            The constructed frame.

        Examples
        --------
        >>> from compas.geometry import Transformation
        >>> f1 = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15])
        >>> T = Transformation.from_frame(f1)
        >>> f2 = Frame.from_transformation(T)
        >>> f1 == f2
        True
        """
    xaxis, yaxis = transformation.basis_vectors
    point = transformation.translation
    return cls(point, xaxis, yaxis)
