Coordinates¶
Orientation¶
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class
zoloto.coords.
Orientation
(e_x, e_y, e_z)[source]¶ The orientation of an object in 3-D space.
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__init__
(e_x, e_y, e_z)[source]¶ Construct a quaternion given the components of a rotation vector.
More information: https://w.wiki/Fci
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__iter__
()[source]¶ Get an iterator over the rotation angles.
- Returns:
An iterator of floating point angles in order x, y, z.
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property
quaternion
¶ Get the quaternion represented by this orientation.
- Return type
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rotation_matrix
¶ Get the rotation matrix represented by this orientation.
- Returns:
A 3x3 rotation matrix as a tuple of tuples.
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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]
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