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cs:coord_system:start [2016/08/21 19:31] Brandon Kallaher created |
cs:coord_system:start [2017/10/05 15:29] (current) Sean Kallaher Added TF information |
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====== Coordinate System ====== | ====== Coordinate System ====== | ||
- | The coordinate system is **currently** RIGHT handed axes and RIGHT handed rotations. The axes are as follows: | + | ===== Global Frame ===== |
+ | 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. | ||
- | 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) | ||
+ | * Roll+ - Counterclockwise around X+ axis (Roll **Right** is positive) | ||
+ | * Pitch+ - Counterclockwise around Y+ axis (Pitch **Down** is positive) | ||
+ | |||
+ | |||
+ | ===== TF Frames ===== | ||
+ | |||
+ | * ''world'' - Global frame defined above | ||
+ | * ''cobalt'' - The frame defining the sub's orientation relative to the ''world'' frame based upon the localization node output. | ||
+ | * ''cobalt_sim'' - The frame defining the sub's orientation relative to the ''world'' frame based upon Gazebo's output. | ||
+ | |||
+ | ==== TF Graph ==== | ||
- | * Yaw+ - Counterclockwise around Z+ axis (this is opposite of magnetic) | + | A visual representation of the TF tree will be placed here in future. |
- | * Roll+ - Counterclockwise around X+ axis | + | |
- | * Pitch+ - Counterclockwise around Y+ axis | + | |