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pygeodesy
Package pygeodesy :: Module ltp :: Class Attitude
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Class Attitude

  object --+        
           |        
named._Named --+    
               |    
named._NamedBase --+
                   |
                  Attitude

The pose of a plane or camera in space.

Instance Methods
 
__init__(self, alt_attitude=0, tilt=0, yaw=0, roll=0, **name)
New Attitude.
 
rotate(self, x_xyz, y=None, z=None, Vector=None, **name_Vector_kwds)
Transform a (local) cartesian by this attitude's matrix.
 
toStr(self, prec=6, sep=', ', **unused)
Format this attitude as string.

Inherited from named._NamedBase: __repr__, __str__, others, toRepr

Inherited from named._Named: __format__, __imatmul__, __matmul__, __rmatmul__, attrs, classof, copy, dup, methodname, rename, renamed, toStr2

Inherited from object: __delattr__, __getattribute__, __hash__, __new__, __reduce__, __reduce_ex__, __setattr__, __sizeof__, __subclasshook__

Properties
  alt
Class property with a .name attribute.
  altitude
Class property with a .name attribute.
  atyr
Return this attitude's alt[itude], tilt, yaw and roll as an Attitude4Tuple.
  matrix
Get the 3x3 rotation matrix R(yaw)·R(tilt)·R(roll), aka ZYX (float, row-order).
  roll
Class property with a .name attribute.
  bank
Class property with a .name attribute.
  tilt
Class property with a .name attribute.
  pitch
Class property with a .name attribute.
  elevation
Class property with a .name attribute.
  tyr3d
Get this attitude's (3-D) directional vector (Vector3d).
  yaw
Class property with a .name attribute.
  heading
Class property with a .name attribute.
  bearing
Class property with a .name attribute.

Inherited from named._Named: classname, classnaming, iteration, name, named, named2, named3, named4, sizeof

Inherited from object: __class__

Method Details

__init__ (self, alt_attitude=0, tilt=0, yaw=0, roll=0, **name)
(Constructor)

 

New Attitude.

Arguments:
  • alt_attitude - Altitude (meter) above earth or previous attitude (Attitude or Attitude4Tuple) with the altitude, tilt, yaw and roll.
  • tilt - Pitch, elevation from horizontal (degrees180), negative down (clockwise rotation along and around the x- or East axis).
  • yaw - Bearing, heading (compass degrees360), clockwise from North (counter-clockwise rotation along and around the z- or Up axis).
  • roll - Roll, bank (degrees180), positive to the right and down (clockwise rotation along and around the y- or North axis).
  • name - Optional name=NN str).
Raises:
Overrides: object.__init__

See Also: Principal axes and Yaw, pitch, and roll rotations.

rotate (self, x_xyz, y=None, z=None, Vector=None, **name_Vector_kwds)

 

Transform a (local) cartesian by this attitude's matrix.

Arguments:
  • x_xyz - X component of vector (scalar) or (3-D) vector (Cartesian, Vector3d or Vector3Tuple).
  • y - Y component of vector (scalar), same units as x.
  • z - Z component of vector (scalar), same units as x.
  • Vector - Class to return transformed point (Cartesian, Vector3d or Vector3Tuple) or None.
  • name_Vector_kwds - Optional name=NN (str) and optionally, additional Vector keyword arguments, ignored if Vector is None.
Returns:
A named Vector instance or if Vector is None, a named Vector3Tuple(x, y, z).
Raises:
  • AttitudeError - Invalid x_xyz, y or z.
  • TypeError - Invalid Vector or name_Vector_kwds item.

See Also: Yaw, pitch, and roll rotations.

toStr (self, prec=6, sep=', ', **unused)

 

Format this attitude as string.

Arguments:
  • prec - The float precision, number of decimal digits (0..9). Trailing zero decimals are stripped for prec values of 1 and above, but kept for negative prec values.
  • sep - Separator to join (str).
Returns:
This attitude (str).
Overrides: named._Named.toStr

Property Details

alt

Class property with a .name attribute.

Get method:
alt(self)
Set method:
alt(self, alt)

altitude

Class property with a .name attribute.

Get method:
alt(self)
Set method:
alt(self, alt)

atyr

Return this attitude's alt[itude], tilt, yaw and roll as an Attitude4Tuple.

Get method:
atyr(self) - Return this attitude's alt[itude], tilt, yaw and roll as an Attitude4Tuple.
Set method:
_fset_error(inst, val) - Throws an AttributeError, always.
Delete Method:
_fdel(inst) - Zap the cached/memoized property value.

matrix

Get the 3x3 rotation matrix R(yaw)·R(tilt)·R(roll), aka ZYX (float, row-order).

Get method:
matrix(self) - Get the 3x3 rotation matrix R(yaw)·R(tilt)·R(roll), aka ZYX (float, row-order).
Set method:
_fset_error(inst, val) - Throws an AttributeError, always.
Delete Method:
_fdel(inst) - Zap the cached/memoized property value.

See Also: Matrix M of case 10 in Appendix A.

roll

Class property with a .name attribute.

Get method:
roll(self)
Set method:
roll(self, roll)

bank

Class property with a .name attribute.

Get method:
roll(self)
Set method:
roll(self, roll)

tilt

Class property with a .name attribute.

Get method:
tilt(self)
Set method:
tilt(self, tilt)

pitch

Class property with a .name attribute.

Get method:
tilt(self)
Set method:
tilt(self, tilt)

elevation

Class property with a .name attribute.

Get method:
tilt(self)
Set method:
tilt(self, tilt)

tyr3d

Get this attitude's (3-D) directional vector (Vector3d).

Get method:
tyr3d(self) - Get this attitude's (3-D) directional vector (Vector3d).
Set method:
_fset_error(inst, val) - Throws an AttributeError, always.
Delete Method:
_fdel(inst) - Zap the cached/memoized property value.

See Also: Yaw, pitch, and roll rotations.

yaw

Class property with a .name attribute.

Get method:
yaw(self)
Set method:
yaw(self, yaw)

heading

Class property with a .name attribute.

Get method:
yaw(self)
Set method:
yaw(self, yaw)

bearing

Class property with a .name attribute.

Get method:
yaw(self)
Set method:
yaw(self, yaw)

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