# Coordinates¶

## Orientation¶

class `zoloto.coords.``Orientation`(e_x, e_y, e_z)[source]

The orientation of an object in 3-D space.

`__init__`(e_x, e_y, e_z)[source]

Construct a quaternion given the components of a rotation vector.

`__iter__`()[source]

Get an iterator over the rotation angles.

Returns:

An iterator of floating point angles in order x, y, z.

Return type
property `pitch`

Get rotation angle around y axis in radians.

Return type

`float`

property `quaternion`

Get the quaternion represented by this orientation.

Return type

`Quaternion`

property `roll`

Get rotation angle around x axis in radians.

Return type

`float`

property `rot_x`

Get rotation angle around x axis in radians.

Return type

`float`

property `rot_y`

Get rotation angle around y axis in radians.

Return type

`float`

property `rot_z`

Get rotation angle around z axis in radians.

Return type

`float`

`rotation_matrix`

Get the rotation matrix represented by this orientation.

Returns:

A 3x3 rotation matrix as a tuple of tuples.

property `yaw`

Get rotation angle around z axis in radians.

Return type

`float`

`yaw_pitch_roll`

Get the equivalent yaw-pitch-roll angles.

Specifically intrinsic Tait-Bryan angles following the z-y’-x’’ convention.

Returns:

A three-tuple of floating point angles:

yaw: rotation angle around the z-axis in radians, in the range [-pi, pi]

pitch: rotation angle around the y’-axis in radians, in the range [-pi/2, -pi/2]

roll: rotation angle around the x’‘-axis in radians, in the range [-pi, pi]

## Coordinates¶

class `zoloto.coords.``Coordinates`
Parameters
• x (float) – X coordinate

• y (float) – Y coordinate

property `x`

Alias for field number 0

property `y`

Alias for field number 1

## ThreeDCoordinates¶

class `zoloto.coords.``ThreeDCoordinates`
Parameters
• x (float) – X coordinate

• y (float) – Y coordinate

• z (float) – Z coordinate

property `x`

Alias for field number 0

property `y`

Alias for field number 1

property `z`

Alias for field number 2

## Spherical¶

class `zoloto.coords.``Spherical`
Parameters
• rot_x (float) – Rotation around the X-axis, in radians

• rot_y (float) – Rotation around the Y-axis, in radians

• dist (float) – Distance

property `dist`

Alias for field number 2

property `rot_x`

Alias for field number 0

property `rot_y`

Alias for field number 1

## Quaternion¶

class `pyquaternion.quaternion.``Quaternion`