pymavlink.quaternion.Quaternion Class Reference

Inheritance diagram for pymavlink.quaternion.Quaternion:

Public Member Functions
def	__init__ (self, attitude)
def	__mul__ (self, other)
def	__truediv__ (self, other)
def	dcm (self)
def	dcm (self, dcm)
def	inversed (self)
def	transform (self, v3)
Public Member Functions inherited from pymavlink.quaternion.QuaternionBase
def	__eq__ (self, other)
def	__getitem__ (self, index)
def	__init__ (self, attitude=[1)
def	__mul__ (self, other)
def	__str__ (self)
def	__truediv__ (self, other)
def	close (self, other)
def	dcm (self)
def	dcm (self, dcm)
def	euler (self)
def	euler (self, euler)
def	inversed (self)
def	norm (self)
def	normalize (self)
def	q (self)
def	q (self, q)
def	transform (self, v)

Public Attributes
	dcm
	q
Public Attributes inherited from pymavlink.quaternion.QuaternionBase
	dcm
	euler
	q

Private Member Functions
def	_dcm_array_to_matrix3 (self, dcm)
def	_dcm_to_euler (self, dcm)
def	_dcm_to_q (self, dcm)
def	_euler_to_dcm (self, euler)
def	_matrix3_to_dcm_array (self, m)
def	_q_to_dcm (self, q)

Private Attributes
	_dcm
	_euler
	_q

Additional Inherited Members
Static Public Member Functions inherited from pymavlink.quaternion.QuaternionBase
def	norm_array (q)
def	normalize_array (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 454 of file quaternion.py.

Constructor & Destructor Documentation

__init__()

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)

Definition at line 477 of file quaternion.py.

Member Function Documentation

__mul__()

def pymavlink.quaternion.Quaternion.__mul__	(		self,
			other
	)

:param other: Quaternion
:returns: multiplaction of this Quaternion with other

Definition at line 616 of file quaternion.py.

__truediv__()

def pymavlink.quaternion.Quaternion.__truediv__	(		self,
			other
	)

:param other: Quaternion
:returns: division of this Quaternion with other

Definition at line 623 of file quaternion.py.

_dcm_array_to_matrix3()

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 553 of file quaternion.py.

_dcm_to_euler()

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

Definition at line 607 of file quaternion.py.

_dcm_to_q()

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]

Definition at line 586 of file quaternion.py.

_euler_to_dcm()

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

Definition at line 596 of file quaternion.py.

_matrix3_to_dcm_array()

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 565 of file quaternion.py.

_q_to_dcm()

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

Definition at line 576 of file quaternion.py.

dcm() [1/2]

def pymavlink.quaternion.Quaternion.dcm

(

self

)

Get the DCM

:returns: Matrix3

Definition at line 500 of file quaternion.py.

dcm() [2/2]

def pymavlink.quaternion.Quaternion.dcm	(		self,
			dcm
	)

Set the DCM
:param dcm: Matrix3

Definition at line 516 of file quaternion.py.

inversed()

def pymavlink.quaternion.Quaternion.inversed

(

self

)

Get inversed quaternion

:returns: inversed quaternion

Definition at line 531 of file quaternion.py.

transform()

def pymavlink.quaternion.Quaternion.transform	(		self,
			v3
	)

Calculates the vector transformed by this quaternion
:param v3: Vector3 to be transformed
:returns: transformed vector

Definition at line 539 of file quaternion.py.

Member Data Documentation

_dcm

pymavlink.quaternion.Quaternion._dcm

private

Definition at line 509 of file quaternion.py.

_euler

pymavlink.quaternion.Quaternion._euler

private

Definition at line 528 of file quaternion.py.

_q

pymavlink.quaternion.Quaternion._q

private

Definition at line 527 of file quaternion.py.

dcm

pymavlink.quaternion.Quaternion.dcm

Definition at line 488 of file quaternion.py.

q

pymavlink.quaternion.Quaternion.q

Definition at line 486 of file quaternion.py.

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The documentation for this class was generated from the following file:

• quaternion.py