wrmath/docs/sphinx/overview.rst

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.. _wrmath_api:
Quick Overview
==============
Namespaces
----------
All WNTRMUTE code is in the ``wr`` namespace. The ``geom`` class is
used for code concerning itself with realspace, e.g. :ref:`Quaternions
<quaternion-docs>`.
Coordinate systems
------------------
The library uses a left-hand coordinate system where +x is north, +y is
east, and +z is up. Accordingly, where Euler angles are concerned, the
ZYX (yaw / pitch / roll) axes are used. The code follows the convention
of using ψ, θ, ϕ to represent yaw, pitch, and roll.
Important classes
-----------------
The foundational class of this library (and here's to a real mathematical
2019-08-08 03:50:55 +00:00
workhorse) is the :class:`wr::geom::Vector` class.
Other important classes are the :class:`wr::geom::Quaternion` class.