laika.lib package
Submodules
laika.lib.coordinates module
- class laika.lib.coordinates.LocalCoord(init_geodetic, init_ecef)[source]
Bases:
object
Allows conversions to local frames. In this case NED. That is: North East Down from the start position in meters.
laika.lib.orientation module
- laika.lib.orientation.ecef2car(car_ecef, psi, theta, points_ecef, ned_converter)[source]
TODO: add roll rotation Converts an array of points in ecef coordinates into x-forward, y-left, z-up coordinates Parameters ———- psi: yaw, radian theta: pitch, radian Returns ——- [x, y, z] coordinates in car frame
- laika.lib.orientation.ecef_euler_from_ned(ned_ecef_init, ned_pose)[source]
Got it from here: Using Rotations to Build Aerospace Coordinate Systems -Don Koks
- laika.lib.orientation.euler_from_quat(quats)
- laika.lib.orientation.euler_from_rot(rots)
- laika.lib.orientation.ned_euler_from_ecef(ned_ecef_init, ecef_poses)[source]
Got the math from here: Using Rotations to Build Aerospace Coordinate Systems -Don Koks
Also accepts array of ecef_poses and array of ned_ecef_inits. Where each row is a pose and an ecef_init.
- laika.lib.orientation.quat_from_euler(eulers)
Random helpers below
- laika.lib.orientation.quat_from_rot(rots)
- laika.lib.orientation.quats_from_rotations(rots)
- laika.lib.orientation.rot_from_euler(eulers)
- laika.lib.orientation.rot_from_quat(quats)
- laika.lib.orientation.rotations_from_quats(quats)