get_transformation_matrixΒΆ
Returns a projection matrix function between the desired frames of reference.
Examples
The projection matrix \(C^GA(\chi)\) expresses a vector in the body-attached
reference frame A
in the inertial frame G
, which is a function of the quaternion.
cga_function = get_transformation_matrix('ga')
cga = cga_function(quat) # The actual projection matrix between A and G for a known quaternion
If the projection involves the G
and B
frames, the output function will take both the quaternion
and the CRV as arguments.
cgb_function = get_transformation_matrix('gb')
cgb = cgb_function(psi, quat) # The actual projection matrix between B and G for a known CRV and quaternion
- param transformation
Desired projection matrix function.
- type transformation
str
- returns
- Function to obtain the desired projection matrix. The function will either take the CRV, the
quaternion, or both as arguments.
- rtype
function
Note
If a rotation is desired, it can be achieved by transposing the resulting projection matrix.