archimedes.spatial.Attitude

class archimedes.spatial.Attitude(*args, **kwargs)

Protocol for attitude representations.

This protocol defines the interface that all attitude representation classes must implement. An attitude representation class encapsulates the orientation of a rigid body in 3D space and provides methods for common operations such as conversion to/from other representations and kinematic models.

__init__(*args, **kwargs)

Methods

__init__(*args, **kwargs)
as_matrix()	Convert the attitude to a direction cosine matrix (DCM).
inv()	Compute the inverse of the rotation corresponding to the attitude.
kinematics(w_B)	Compute the time derivative of the attitude given angular velocity.