public class BodyCoordinateSystem extends CoordinateSystem
Body Coordinate System. The X-axis points forward (towards the nose); The Y-axis points port side (left); The Z-axis points up;
rightGrid
Constructor and Description |
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BodyCoordinateSystem(Datum datum,
GeoLocation origin,
double yawDegrees,
double pitchDegrees,
double rollDegrees)
Constructs a body coordinate system.
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BodyCoordinateSystem(ECEFLocation origin,
ECEFVelocity vel) |
Modifier and Type | Method and Description |
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void |
fromECEF(Vector3 ecf,
Vector3 vec)
Converts a non-location vector from ECEF coordinates to this coordinate system.
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void |
fromECEFLocation(Vector3 ecf,
Vector3 vec)
Converts a location vector from ECEF coordinates to this coordinate system.
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ECEFLocation |
getOrigin()
The coordinate system’s origin (in ECEF coordinates) with respect to the datum.
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void |
toECEF(Vector3 vec,
Vector3 ecf)
Converts a non-location vector from this coordinate system to ECEF.
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void |
toECEFLocation(Vector3 vec,
Vector3 ecf)
Converts a location vector from this coordinate system to ECEF.
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public BodyCoordinateSystem(Datum datum, GeoLocation origin, double yawDegrees, double pitchDegrees, double rollDegrees)
Constructs a body coordinate system.
origin
- position of the center of the bodyyawDegrees
- angle between nose and north in degrees, east is positive.pitchDegrees
- angle between nose and horizon in degrees, up is positive.rollDegrees
- angle between right wing and horizon in degrees, up is positive.public BodyCoordinateSystem(ECEFLocation origin, ECEFVelocity vel)
public ECEFLocation getOrigin()
CoordinateSystem
The coordinate system’s origin (in ECEF coordinates) with respect to the datum.
getOrigin
in class CoordinateSystem
public void toECEFLocation(Vector3 vec, Vector3 ecf)
CoordinateSystem
Converts a location vector from this coordinate system to ECEF.
toECEFLocation
in class CoordinateSystem
vec
- a location vector in this coordinate systemecf
- a vector into which the result (in ECEF coordinates) will be written.public void fromECEFLocation(Vector3 ecf, Vector3 vec)
CoordinateSystem
Converts a location vector from ECEF coordinates to this coordinate system.
fromECEFLocation
in class CoordinateSystem
ecf
- a location vector in ECEF coordinates.vec
- a vector into which the result (in this coordinate system) will be written.public void toECEF(Vector3 vec, Vector3 ecf)
CoordinateSystem
Converts a non-location vector from this coordinate system to ECEF. Unlike toECEFLocation
, this method does not translate the vector.
toECEF
in class CoordinateSystem
vec
- a non-location vector in this coordinate systemecf
- a vector into which the result (in ECEF coordinates) will be written.public void fromECEF(Vector3 ecf, Vector3 vec)
CoordinateSystem
Converts a non-location vector from ECEF coordinates to this coordinate system. Unlike toECEFLocation
, this method does not translate the vector.
fromECEF
in class CoordinateSystem
ecf
- a non-location vector in ECEF coordinates.vec
- a vector into which the result (in this coordinate system) will be written.