pyins.transform

Coordinate and attitude transformations.

Constants

DEG_TO_RAD	Degrees to radians.
RAD_TO_DEG	Radians to degrees.
DH_TO_RS	Degrees per hour to radians per second.
RS_TO_DH	Radians per second to degrees per hour.
DRH_TO_RRS	Degrees per root-hour to radians per root-second.

Functions

lla_to_ecef(lla)	Convert latitude, longitude, altitude into ECEF Cartesian coordinates.
lla_to_ned(lla[, lla_origin])	Convert lla into NED Cartesian coordinates.
perturb_lla(lla, dr_n)	Perturb latitude, longitude and altitude.
translate_trajectory(trajectory, translation_b)	Translate trajectory by a vector expressed in body frame.
compute_lla_difference(lla1, lla2)	Compute difference between lla points resolved in NED in meters.
resample_state(state, times)	Compute state values at new set of time values.
compute_state_difference(first, second)	Compute difference between two state data frames indexed by time.
smooth_rotations(rotations, dt, smoothing_time)	Smooth rotations.
smooth_state(state, smoothing_time)	Smooth state data.
mat_en_from_ll(lat, lon)	Create a rotation matrix projecting from ECEF to NED frame.
mat_from_rph(rph)	Create a rotation matrix from roll, pitch and heading.
mat_to_rph(mat)	Convert a rotation matrix to roll, pitch and heading angles.