Physics Module¶

class
physics.
Physics
¶ Returns the linear acceleration and angular velocity measured by the IMU.

abstract
get_angular_velocity
()¶ Returns a 3D vector containing the car’s angular velocity.
 Return type
NDArray
[3,float32
] Returns
The average angular velocity of the car along the (x, y, z) axes during the last frame in rad/s.
Note
The x axis (pitch) points out of the right of the car. The y axis (yaw) points directly up (perpendicular to the ground). The z axis (roll) points out of the front of the car. Rotation sign uses the right hand rule. For example, when the car turns to the left, it has a positive angular velocity along the y axis.
Example:
# ang_vel stores the average angular velocity over the previous frame ang_vel = rc.physics.get_angular_velocity() # yaw stores the yaw of the car, which is positive when it turns to the left # and negative when it turns to the right. yaw = ang_vel[1]

abstract
get_linear_acceleration
()¶ Returns a 3D vector containing the car’s linear acceleration.
 Return type
NDArray
[3,float32
] Returns
The average linear acceleration of the car along the (x, y, z) axes during the last frame in m/s^2.
Note
The x axis points out of the right of the car. The y axis points directly up (perpendicular to the ground). The z axis points out of the front of the car.
Example:
# accel stores the average acceleration over the previous frame accel = rc.physics.get_linear_acceleration() # forward accel stores acceleration in the forward direction. This will be # positive when the car accelerates, and negative when it decelerates. forward_accel = accel[2]

abstract