PhysicsStruct 1.1.0

A set of classes for physcis variables

Physics Struct

A package containing set of classes for physics variables

Example

Create instance, default value is (0, 0, 0)

data = vector3D()
data2 = vector3D((1, 2, 3))

Assign new value, can be either list or tuple

data.set([2, 2, 2])

Get data, the function will return a np.array()

• get_round() return a rounded value
• dec (optional): the decimal point can be specified, default value is 2

data.get()
data.get_round()
data.get_round(dec= 5)

Print value of each dimension

• dec (optional): set the decimal point, default value is 2
• end (optional): same as 'end' parameter in a print() function

data.print()
data.pritn(dec= 3)

Other Classes in the 3D vector space

orientation = orientation_rpy()
# stored data in RPY as radian
# include .get_deg() which return the value in degree

velocity = cartesian_vector()
# stored data in XYZ
# include .rotate() to caluculate 3D Euler Rotation
# .set() include increment mode => .set(inc= True)

acc = IMU_acc()
# inherite cartesian_vector()
# .rotate() ignore yaw as IMU linear acceleration does

ROS2 Implementation

Some classes contain a method to transfer data from ROS2 geometry_msgs
geometry_msgs/msg/Vector3 can be use with cartesian_vector()

data = Vector3()
velocity.set_ros2_geometry_msgs_vector3(data)

geometry_msgs/msg/Quaternion can be use with orientation_rpy()

data2 = Quaternion()
orientation.set_ros2_geometry_msgs_quaternion(data2)