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cs:coord_system:start [2016/11/15 20:13] James Irwin [Global Frame] |
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 ===== | ||
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* 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) | ||
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+ | ===== TF Frames ===== | ||
+ | * ``world`` - Global frame defined above | ||
+ | * | ||