Public Member Functions | Public Attributes | Private Member Functions | Private Attributes
pymavlink.quaternion.Quaternion Class Reference
Inheritance diagram for pymavlink.quaternion.Quaternion:
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List of all members.

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.

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.

Get inversed quaternion

:returns: inversed quaternion

Reimplemented from pymavlink.quaternion.QuaternionBase.

Definition at line 529 of file quaternion.py.

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

Reimplemented from pymavlink.quaternion.QuaternionBase.

Definition at line 502 of file quaternion.py.

Reimplemented from pymavlink.quaternion.QuaternionBase.

Definition at line 518 of file quaternion.py.

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:


mavlink
Author(s): Lorenz Meier
autogenerated on Wed Sep 9 2015 18:06:18