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