def alpha(self):
if self._alpha.any():
return self._alpha
elif self.do_diff:
self._alpha = np.array(u.diff(self.w, self._t))
return self._alpha
raise ValueError('No ang. acceleration data available')
def a(self):
if self._a.any():
return self._a
elif self.do_diff:
self._a = np.array(u.diff(self.v, self._t))
return self._a
raise ValueError('No acceleration data available')
def w(self):
if self._w.any():
return self._w
elif self.do_diff:
self._w = np.array(u.diff(self.r, self._t))
return self._w
raise ValueError('No ang. velocity data available')
def v(self):
if self._v.any():
return self._v
elif self.do_diff:
self._v = np.array(u.diff(self.p, self._t))
return self._v
raise ValueError('No velocity data available')
def w(self):
if self._w.any():
return self._w
elif self.do_diff:
# First determine \dot{Theta} - the rates of change of the
# Euler angles...
self._w = np.array(u.diff(self.r, self._t))
# Now convert to angular velocities *in the vehicle (IMU) frame*.
for i in (range(len(self._w))):
# Referencing _r ... must be set before a call to w(self).
self._w[i, :] = u.to_angular_rates(self.r[i, :], self._w[i, :])
return self._w
raise ValueError('No angular velocity data available')