swri_transform_util.wgs84_transformer module

A module containing a simple class for transforming from WGS84 coordinate frame to a local_xy frame and vice versa.

class swri_transform_util.wgs84_transformer.Wgs84Transformer(local_origin)

Bases: object

A simple class for transforming from the WGS84 frame to the local_xy frame and vice versa.

Transforms to and from WGS84 and the local_xy frame using a local origin as a reference.

local_xy_to_wgs84(local_points)

Transforms point(s) in the local_xy frame to the WGS84 coordinate frame :param list local_points: list of (x, y) coordinates :return: The transformed list of (latitude, longitude) coordinates in the WGS84 frame

wgs84_to_local_xy(wgs84_points)

Transforms point(s) in the WGS84 coordinate frame to the local_xy frame. :param list wgs84_points: list of (latitude, longitude) coordinates :return: The transformed list of (x, y) coordinates in the local_xy frame

swri_transform_util.wgs84_transformer.yaw_from_quaternion(quaternion)

Converts a quartenion into a yaw value :param quaternion: list of quaternion values in (x,y,z,w) order :return: The yaw angle (in radians) of the quaternion