Public Member Functions | |
| def | __init__ |
| def | __mul__ |
| def | __truediv__ |
| def | dcm |
| def | dcm |
| def | inversed |
| def | transform |
Public Attributes | |
| dcm | |
| q | |
Private Member Functions | |
| def | _dcm_array_to_matrix3 |
| def | _dcm_to_euler |
| def | _dcm_to_q |
| def | _euler_to_dcm |
| def | _matrix3_to_dcm_array |
| def | _q_to_dcm |
Private Attributes | |
| _dcm | |
| _euler | |
| _q | |
Detailed Description
Quaternion class that supports pymavlink's Vector3 and Matrix3
Usage:
>>> from quaternion import Quaternion
>>> from rotmat import Vector3, Matrix3
>>> m = Matrix3()
>>> m.from_euler(45, 0, 0)
>>> print(m)
Matrix3((1.00, 0.00, 0.00), (0.00, 0.53, -0.85), (-0.00, 0.85, 0.53))
>>> q = Quaternion(m)
>>> print(q)
[ 0.87330464 0.48717451 0. 0. ]
>>> print(q.dcm)
Matrix3((1.00, 0.00, 0.00), (0.00, 0.53, -0.85), (-0.00, 0.85, 0.53))
>>> v = Vector3(0, 1, 0)
>>> v2 = q.transform(v)
>>> print(v2)
Vector3(0.00, 0.53, 0.85)
Definition at line 452 of file quaternion.py.
Constructor & Destructor Documentation
| def pymavlink.quaternion.Quaternion.__init__ | ( | self, | |
| attitude | |||
| ) |
Construct a quaternion from an attitude
:param attitude: another Quaternion, QuaternionBase,
3 element list [roll, pitch, yaw],
4 element list [w, x, y ,z], DCM (3x3 array or Matrix3)
Reimplemented from pymavlink.quaternion.QuaternionBase.
Definition at line 475 of file quaternion.py.
Member Function Documentation
| def pymavlink.quaternion.Quaternion.__mul__ | ( | self, | |
| other | |||
| ) |
:param other: Quaternion :returns: multiplaction of this Quaternion with other
Reimplemented from pymavlink.quaternion.QuaternionBase.
Definition at line 614 of file quaternion.py.
| def pymavlink.quaternion.Quaternion.__truediv__ | ( | self, | |
| other | |||
| ) |
:param other: Quaternion :returns: division of this Quaternion with other
Reimplemented from pymavlink.quaternion.QuaternionBase.
Definition at line 621 of file quaternion.py.
| def pymavlink.quaternion.Quaternion._dcm_array_to_matrix3 | ( | self, | |
| dcm | |||
| ) | [private] |
Converts dcm array into Matrix3 :param dcm: 3x3 dcm array :returns: Matrix3
Definition at line 551 of file quaternion.py.
| def pymavlink.quaternion.Quaternion._dcm_to_euler | ( | self, | |
| dcm | |||
| ) | [private] |
Create DCM from euler angles :param dcm: Matrix3 :returns: array [roll, pitch, yaw] in rad
Reimplemented from pymavlink.quaternion.QuaternionBase.
Definition at line 605 of file quaternion.py.
| def pymavlink.quaternion.Quaternion._dcm_to_q | ( | self, | |
| dcm | |||
| ) | [private] |
Create q from dcm (Matrix3) :param dcm: Matrix3 :returns: array q which represents a quaternion [w, x, y, z]
Reimplemented from pymavlink.quaternion.QuaternionBase.
Definition at line 584 of file quaternion.py.
| def pymavlink.quaternion.Quaternion._euler_to_dcm | ( | self, | |
| euler | |||
| ) | [private] |
Create DCM (Matrix3) from euler angles :param euler: array [roll, pitch, yaw] in rad :returns: Matrix3
Reimplemented from pymavlink.quaternion.QuaternionBase.
Definition at line 594 of file quaternion.py.
| def pymavlink.quaternion.Quaternion._matrix3_to_dcm_array | ( | self, | |
| m | |||
| ) | [private] |
Converts Matrix3 in an array :param m: Matrix3 :returns: 3x3 array
Definition at line 563 of file quaternion.py.
| def pymavlink.quaternion.Quaternion._q_to_dcm | ( | self, | |
| q | |||
| ) | [private] |
Create DCM (Matrix3) from q :param q: array q which represents a quaternion [w, x, y, z] :returns: Matrix3
Reimplemented from pymavlink.quaternion.QuaternionBase.
Definition at line 574 of file quaternion.py.
| def pymavlink.quaternion.Quaternion.dcm | ( | self | ) |
Get the DCM :returns: Matrix3
Reimplemented from pymavlink.quaternion.QuaternionBase.
Definition at line 498 of file quaternion.py.
| def pymavlink.quaternion.Quaternion.dcm | ( | self, | |
| dcm | |||
| ) |
Set the DCM :param dcm: Matrix3
Reimplemented from pymavlink.quaternion.QuaternionBase.
Definition at line 514 of file quaternion.py.
| def pymavlink.quaternion.Quaternion.inversed | ( | self | ) |
Get inversed quaternion :returns: inversed quaternion
Reimplemented from pymavlink.quaternion.QuaternionBase.
Definition at line 529 of file quaternion.py.
| def pymavlink.quaternion.Quaternion.transform | ( | self, | |
| v3 | |||
| ) |
Calculates the vector transformed by this quaternion :param v3: Vector3 to be transformed :returns: transformed vector
Reimplemented from pymavlink.quaternion.QuaternionBase.
Definition at line 537 of file quaternion.py.
Member Data Documentation
pymavlink::quaternion.Quaternion::_dcm [private] |
Reimplemented from pymavlink.quaternion.QuaternionBase.
Definition at line 502 of file quaternion.py.
pymavlink::quaternion.Quaternion::_euler [private] |
Reimplemented from pymavlink.quaternion.QuaternionBase.
Definition at line 518 of file quaternion.py.
pymavlink::quaternion.Quaternion::_q [private] |
Reimplemented from pymavlink.quaternion.QuaternionBase.
Definition at line 518 of file quaternion.py.
Reimplemented from pymavlink.quaternion.QuaternionBase.
Definition at line 481 of file quaternion.py.
Reimplemented from pymavlink.quaternion.QuaternionBase.
Definition at line 481 of file quaternion.py.
The documentation for this class was generated from the following file: