CoordinateSystem

class wpimath.geometry.CoordinateSystem(positiveX: wpimath.geometry._geometry.CoordinateAxis, positiveY: wpimath.geometry._geometry.CoordinateAxis, positiveZ: wpimath.geometry._geometry.CoordinateAxis)

Bases: pybind11_object

A helper class that converts Pose3d objects between different standard coordinate frames.

Constructs a coordinate system with the given cardinal directions for each axis.

Parameters:

  • positiveX – The cardinal direction of the positive x-axis.

  • positiveY – The cardinal direction of the positive y-axis.

  • positiveZ – The cardinal direction of the positive z-axis. @throws std::domain_error if the coordinate system isn’t special orthogonal

static EDN() → wpimath.geometry._geometry.CoordinateSystem

Returns an instance of the East-Down-North (EDN) coordinate system.

The +X axis is east, the +Y axis is down, and the +Z axis is north.

static NED() → wpimath.geometry._geometry.CoordinateSystem

Returns an instance of the NED coordinate system.

The +X axis is north, the +Y axis is east, and the +Z axis is down.

static NWU() → wpimath.geometry._geometry.CoordinateSystem

Returns an instance of the North-West-Up (NWU) coordinate system.

The +X axis is north, the +Y axis is west, and the +Z axis is up.

static convert(*args, **kwargs)

Overloaded function.

  1. convert(translation: wpimath.geometry._geometry.Translation3d, from_: wpimath.geometry._geometry.CoordinateSystem, to: wpimath.geometry._geometry.CoordinateSystem) -> wpimath.geometry._geometry.Translation3d

Converts the given translation from one coordinate system to another.

Parameters:

  • translation – The translation to convert.

  • from – The coordinate system the translation starts in.

  • to – The coordinate system to which to convert.

Returns:

The given translation in the desired coordinate system.

  1. convert(rotation: wpimath.geometry._geometry.Rotation3d, from_: wpimath.geometry._geometry.CoordinateSystem, to: wpimath.geometry._geometry.CoordinateSystem) -> wpimath.geometry._geometry.Rotation3d

Converts the given rotation from one coordinate system to another.

Parameters:

  • rotation – The rotation to convert.

  • from – The coordinate system the rotation starts in.

  • to – The coordinate system to which to convert.

Returns:

The given rotation in the desired coordinate system.

  1. convert(pose: wpimath.geometry._geometry.Pose3d, from_: wpimath.geometry._geometry.CoordinateSystem, to: wpimath.geometry._geometry.CoordinateSystem) -> wpimath.geometry._geometry.Pose3d

Converts the given pose from one coordinate system to another.

Parameters:

  • pose – The pose to convert.

  • from – The coordinate system the pose starts in.

  • to – The coordinate system to which to convert.

Returns:

The given pose in the desired coordinate system.

  1. convert(transform: wpimath.geometry._geometry.Transform3d, from_: wpimath.geometry._geometry.CoordinateSystem, to: wpimath.geometry._geometry.CoordinateSystem) -> wpimath.geometry._geometry.Transform3d

Converts the given transform from one coordinate system to another.

Parameters:

  • transform – The transform to convert.

  • from – The coordinate system the transform starts in.

  • to – The coordinate system to which to convert.

Returns:

The given transform in the desired coordinate system.