def R_EN(self): R_NB = zyx2R(self.yaw, self.pitch, self.roll) n_EB_E = self.nvector.normal R_EN = n_E2R_EN(n_EB_E, self.nvector.frame.R_Ee) return mdot(R_EN, R_NB) # rotation matrix
def R_EN(self): R_NB = zyx2R(self.yaw, self.pitch, self.roll) n_EB_E = self.nvector.normal R_EN = n_E2R_EN(n_EB_E, self.nvector.frame.R_Ee) return np.dot(R_EN, R_NB) # rotation matrix
def R_EN(self): nvector = self.nvector return n_E2R_EN(nvector.normal, nvector.frame.R_Ee)
def __init__(self, position): nvector = position.to_nvector() n_EA_E = nvector.normal self.nvector = Nvector(n_EA_E, z=0, frame=nvector.frame) self.R_EN = n_E2R_EN(n_EA_E, nvector.frame.R_Ee)