RobotEye Library
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RobotEye Conventions

RobotEye Coordinate System Definitions

The RobotEye device uses a right-handed (or 'positive') coordinate system fixed to the centre of the 'head' of the RobotEye with the aperture centred on the y axis when the aperture is at zero degrees azimuth and zero degrees elevation. The x axis is constrained to the horizontal plane, and the z axis 'up' with respect to x and y. The aperture angles (usually specified as the 'azimuthAngle' and 'elevationAngle') are angular offsets in azimuth and elevation from the y axis.

The following diagrams summarise the coordinate system used for the RobotEye system.

RE_frame_image_1.jpg
The RobotEye Coordinate System

The diagram above shows the right-handed frame used for the RobotEye.

RE_frame_image_2.jpg
The RobotEye Azimuth Reference Surface

The diagram above shows the reference used for the direction of the x axis. The x axis, which is the 'azimuthAngle' zero reference is defined as being perpendicular to the encoder mounting surfaces.

RE_frame_image_3.jpg
The RobotEye Elevation Reference Surface and Azimuth and Elevation Rotation Sign

The final diagram shows two things;

RobotEye Angle Conventions

The RobotEye library uses the following conventions when dealing with angles.