nvector.objects.FrameB¶
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class
FrameB
(position, yaw=0, pitch=0, roll=0, degrees=False)[source]¶ Body frame
- Parameters
- position: ECEFvector, GeoPoint or Nvector object
position of the vehicle’s reference point which also coincides with the origin of the frame B.
- yaw, pitch, roll: real scalars
defining the orientation of frame B in [deg] or [rad].
- degreesbool
if True yaw, pitch, roll are given in degrees otherwise in radians
Notes
The frame is fixed to the vehicle where the x-axis points forward, the y-axis to the right (starboard) and the z-axis in the vehicle’s down direction.
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__init__
(self, position, yaw=0, pitch=0, roll=0, degrees=False)[source]¶ Initialize self. See help(type(self)) for accurate signature.
Methods
Pvector
(self, pvector)Returns Pvector relative to the local frame.
__init__
(self, position[, yaw, pitch, roll, …])Initialize self.
Attributes
R_EN
Rotation matrix to go between E and B frame