multirotor.coords

Module Contents

Functions

body_to_inertial(→ numpy.ndarray)	View body coordinates in terms of coordinates on inertial axes. Assumes
inertial_to_body(→ numpy.ndarray)
direction_cosine_matrix(→ numpy.ndarray)
rotating_frame_derivative(→ numpy.ndarray)
angular_to_euler_rate(→ numpy.ndarray)
euler_to_angular_rate(→ numpy.ndarray)

multirotor.coords.body_to_inertial(vector: numpy.ndarray, dcm: numpy.ndarray) → numpy.ndarray

View body coordinates in terms of coordinates on inertial axes. Assumes both frames share same origin.

Parameters

vectornp.ndarray

The 3D vector of points, or a 3 x N matrix of N points

dcmnp.ndarray

The 3x3 direction cosine matrix

Returns

np.ndarray

The transformed coordinates in the intertial frame

multirotor.coords.inertial_to_body(vector: numpy.ndarray, dcm=np.ndarray) → numpy.ndarray

multirotor.coords.direction_cosine_matrix(roll: float, pitch: float, yaw: float) → numpy.ndarray

multirotor.coords.rotating_frame_derivative(value: numpy.ndarray, local_derivative: numpy.ndarray, omega: numpy.ndarray) → numpy.ndarray

multirotor.coords.angular_to_euler_rate(angular_velocity: numpy.ndarray, orientation: numpy.ndarray) → numpy.ndarray

multirotor.coords.euler_to_angular_rate(euler_velocity: numpy.ndarray, orientation: numpy.ndarray) → numpy.ndarray