:py:mod:`multirotor.coords`
===========================

.. py:module:: multirotor.coords


Module Contents
---------------


Functions
~~~~~~~~~

.. autoapisummary::

   multirotor.coords.body_to_inertial
   multirotor.coords.inertial_to_body
   multirotor.coords.direction_cosine_matrix
   multirotor.coords.rotating_frame_derivative
   multirotor.coords.angular_to_euler_rate
   multirotor.coords.euler_to_angular_rate



.. py:function:: 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
   ----------
   vector : np.ndarray
       The 3D vector of points, or a 3 x N matrix of N points
   dcm : np.ndarray
       The 3x3 direction cosine matrix

   Returns
   -------
   np.ndarray
       The transformed coordinates in the intertial frame


.. py:function:: inertial_to_body(vector: numpy.ndarray, dcm=np.ndarray) -> numpy.ndarray


.. py:function:: direction_cosine_matrix(roll: float, pitch: float, yaw: float) -> numpy.ndarray


.. py:function:: rotating_frame_derivative(value: numpy.ndarray, local_derivative: numpy.ndarray, omega: numpy.ndarray) -> numpy.ndarray


.. py:function:: angular_to_euler_rate(angular_velocity: numpy.ndarray, orientation: numpy.ndarray) -> numpy.ndarray


.. py:function:: euler_to_angular_rate(euler_velocity: numpy.ndarray, orientation: numpy.ndarray) -> numpy.ndarray