Class EntityBodyCoordinates

java.lang.Object
edu.nps.moves.spatial.EntityBodyCoordinates

public class EntityBodyCoordinates extends Object
Local coordinate system for an entity, e.g., relative to one UAV. This is typically embedded in another coordinate system, such as a range coordinate system. The origin of the local coordinate system should be the center of mass of the entity. The u axis points out the front, v axis out the right side of the entity, and the w axis down. The SRF is specified via a point (in the reference frame of the parent) and two unit vectors in the parent SRF, which are parallel to the entity u,v plane. Directions, orientations, and vector quantities are independent of the position of the lococenter WRT the parent SRF; if you're concerned only with directions, orientations, and vector quantities it doesn't matter where the origin is, so you can pick someplace handy, like the origin of the parent SRF.
Author:
DMcG