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cs:coord_system:start [2016/11/15 20:13] James Irwin |
cs:coord_system:start [2017/10/05 15:19] Sean Kallaher |
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| ===== Global Frame ===== | ===== Global Frame ===== | ||
| - | We propose the global frame to be such that the origin is relative to the pinger, and yaw is relative to magnetic north. Pitch and Roll are relative to gravity. | + | The global frame is such that the x,y origin is at the pinger, and z=0 is at the surface. Positive z is up. Yaw is relative to magnetic north. Pitch and Roll are relative to the gravity vector. |
| - | The coordinate system is **currently** RIGHT handed axes and RIGHT handed rotations. The axes are as follows: | ||
| - | Axes: | + | ===== Axes ===== |
| * X+ - front of the sub | * X+ - front of the sub | ||
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| * Z+ - above the sub | * Z+ - above the sub | ||
| - | Rotations: | + | ===== Rotations ===== |
| * Yaw+ - Counterclockwise around Z+ axis (this is opposite of magnetic) (Yaw **Left** positive) | * Yaw+ - Counterclockwise around Z+ axis (this is opposite of magnetic) (Yaw **Left** positive) | ||
| * Roll+ - Counterclockwise around X+ axis (Roll **Right** is positive) | * Roll+ - Counterclockwise around X+ axis (Roll **Right** is positive) | ||
| * Pitch+ - Counterclockwise around Y+ axis (Pitch **Down** is positive) | * Pitch+ - Counterclockwise around Y+ axis (Pitch **Down** is positive) | ||
| + | |||
| + | |||
| + | ===== TF Frames ===== | ||
| + | * ``world`` - Global frame defined above | ||
| + | * | ||
