Scene · local → bodyshowing: full rotation
local NED bodyView
AnglesNED · zyx · intrinsic
yaw about z0.6109 rad°
pitch about y′0.3491 rad°
roll about x″-0.2618 rad°
Sequence
startafter 1after 2after 3
- 00start · body axes coincide with the local frame
- 01yaw 35.0° · about z
- 02pitch 20.0° · about y′
- 03roll -15.0° · about x″
Frameshared with the position mode
Localtangent frame at the anchorBodyx forward · y right · z down
Body axes in NEDthe columns of R[ned←body]
- body x
- N +0.770E +0.539D −0.342
- body y
- N −0.627E +0.740D −0.243
- body z
- N +0.122E +0.402D +0.908
Rotation matrixR[ned←body] · 3×3 · invert and copy
R[ned←body]Takes body coordinates · gives NED coordinates.
| body x | body y | body z | |
|---|---|---|---|
| N | +0.7698 | −0.6265 | +0.1222 |
| E | +0.5390 | +0.7405 | +0.4015 |
| D | −0.3420 | −0.2432 | +0.9077 |
the inverse of a rotation is its transpose
Quaternionthe same rotation as four numbers · editable
Same rotation as R. Non-unit input is normalised on commit; a zero or non-finite quaternion is rejected. Committing one finishes the sequence.
Point Pone point, two descriptions · also draws P in the scene
P in NEDmP in bodym
Body coordinates are R[body←NED] · (P − origin). Turn the body and the NED triple stays put while the body triple changes.
Pose T4×4 · carries R and the body origin
T[ned←body]Takes body coordinates of a point, with a fourth coordinate of 1 · gives NED coordinates.
| body x | body y | body z | origin | |
|---|---|---|---|---|
| N | +0.770 | −0.627 | +0.122 | +0.000 |
| E | +0.539 | +0.740 | +0.402 | +0.000 |
| D | −0.342 | −0.243 | +0.908 | +0.000 |
| 0 | 0 | 0 | 1 |
rotation transposed, origin becomes −Rᵀ·t
Originm · body origin in NED
R never becomes T; T contains R.