return_mounting_rotation_matrix

HSTB.kluster.rotations.return_mounting_rotation_matrix(roll, pitch, yaw, tstmp)

Using the xyzrph record from xarray_conversion generated rangeangle DataSet, build the static mounting angle rotation matrix, pulling from the appropriate timestamp

Parameters

• roll (float) – roll sonar mounting angle

• pitch (float) – pitch sonar mounting angle

• yaw (float) – yaw sonar mounting angle

• tstmp (str) – timestamp associated with this installation parameters entry

Returns

3dim (time, x, y) rotation matrix composed of rpy rotations at time of xyzrph record (length of time dim is always 1)

Return type

xr.DataArray