v16.world.World.SphericalCoordinates

Warning

This class is autogenerated. More detailed documentation can be found in the SDFormat spec.

class v16.world.World.SphericalCoordinates(surface_model='EARTH_WGS84', world_frame_orientation='ENU', latitude_deg=0.0, longitude_deg=0.0, elevation=0.0, heading_deg=0.0)
Parameters
surface_model: Name of planetary surface model, used to

determine the surface altitude at a given latitude and longitude. The default is an ellipsoid model of the earth based on the WGS-84 standard. It is used in Gazebo’s GPS sensor implementation.

world_frame_orientation: This field identifies how Gazebo world

frame is aligned in Geographical sense. The final Gazebo world frame orientation is obtained by rotating a frame aligned with following notation by the field heading_deg (Note that heading_deg corresponds to positive yaw rotation in the NED frame, so it’s inverse specifies positive Z-rotation in ENU or NWU). Options are: - ENU (East-North-Up) - NED (North-East-Down) - NWU (North-West-Up) For example, world frame specified by setting world_orientation=”ENU” and heading_deg=-90° is effectively equivalent to NWU with heading of 0°.

latitude_deg: Geodetic latitude at origin of gazebo reference

frame, specified in units of degrees.

longitude_deg: Longitude at origin of gazebo reference frame,

specified in units of degrees.

elevation: Elevation of origin of gazebo reference frame,

specified in meters.

heading_deg: Heading offset of gazebo reference frame, measured

as angle between Gazebo world frame and the world_frame_orientation type (ENU/NED/NWU). Rotations about the downward-vector (e.g. North to East) are positive. The direction of rotation is chosen to be consistent with compass heading convention (e.g. 0 degrees points North and 90 degrees points East, positive rotation indicates counterclockwise rotation when viewed from top-down direction). The angle is specified in degrees.