mirror of
https://github.com/pybricks/pybricks-api.git
synced 2026-09-12 01:24:17 +00:00
Laurens Valk
e1be50181a
Previously, all renders were created and added manually when a newly supported device was added to the documentation. This commit revisits all diagrams by creating them using a single LDRAW multi-file part model and LPUB3D building instructions file. This makes perspective and resolution consistent across all images, and we could update them all at once if needed. It also removes the background from all images so they can be used with different documentation themes.
52 lines
1.7 KiB
ReStructuredText
52 lines
1.7 KiB
ReStructuredText
.. pybricks-requirements:: stm32-float
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:mod:`geometry <pybricks.geometry>` -- Geometry and algebra
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============================================================
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.. module:: pybricks.geometry
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.. autoclass:: pybricks.geometry.Matrix
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:no-members:
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.. autoattribute:: pybricks.geometry::Matrix.T
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.. autoattribute:: pybricks.geometry::Matrix.shape
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.. autofunction:: pybricks.geometry.vector
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.. autoclass:: pybricks.geometry.Axis
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:no-members:
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.. _robotframe:
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Reference frames
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-----------------------
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The Pybricks module and this documentation use the following conventions:
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- X: Positive means forward. Negative means backward.
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- Y: Positive means to the left. Negative means to the right.
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- Z: Positive means upward. Negative means downward.
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To make sure that all hub measurements (such as acceleration) have the correct
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value and sign, you can specify how the hub is mounted in your creation. This
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adjust the measurements so that it is easy to see how your *robot* is moving,
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rather than how the *hub* is moving.
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For example, the hub may be mounted upside down in your design. If you
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configure the settings as shown in :numref:`fig_imuexamples`, the hub
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measurements will be adjusted accordingly. This way, a positive acceleration
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value in the X direction means that your *robot* accelerates forward, even
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though the *hub* accelerates backward.
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.. _fig_imuexamples:
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.. figure:: ../main/diagrams/imuexamples.png
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:width: 100 %
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How to configure the ``top_side`` and ``front_side`` settings for three
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different robot designs. The same technique can be applied to other hubs
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and other creations, by noting which way the top and
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front :class:`Side <Side>` of the hub are pointing. The example
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on the left is the default configuration.
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