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50 lines
1.7 KiB
ReStructuredText
50 lines
1.7 KiB
ReStructuredText
: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:: ../api/images/imuexamples_label.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 <.parameters.Side>` of the hub are pointing. The example
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on the left is the default configuration.
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