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

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

The orientation 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, **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: __imatmul__, __matmul__, __rmatmul__, attrs, classof, copy, dup, methodname, rename, toStr2

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

Properties
  alt
Class property with retrievable name.
  altitude
Class property with retrievable name.
  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 retrievable name.
  bank
Class property with retrievable name.
  tilt
Class property with retrievable name.
  pitch
Class property with retrievable name.
  elevation
Class property with retrievable name.
  tyr3d
Get this attitude's (3-D) directional vector (Vector3d).
  yaw
Class property with retrievable name.
  heading
Class property with retrievable name.
  bearing
Class property with retrievable name.

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 - An altitude (meter) above earth or an 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 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, **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.
  • Vector_kwds - Optional, additional Vector keyword arguments, ignored if Vector is None.
Returns:
A Vector instance or a Vector3Tuple(x, y, z) if Vector=None.
Raises:

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 retrievable name.

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

altitude

Class property with retrievable name.

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 retrievable name.

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

bank

Class property with retrievable name.

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

tilt

Class property with retrievable name.

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

pitch

Class property with retrievable name.

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

elevation

Class property with retrievable name.

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 retrievable name.

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

heading

Class property with retrievable name.

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

bearing

Class property with retrievable name.

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

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