.. default-domain:: cpp
.. highlight:: cpp
.. namespace:: krpc::services::SpaceCenter

ReferenceFrame
==============


.. class:: ReferenceFrame

   Represents a reference frame for positions, rotations and
   velocities. Contains:

   * The position of the origin.
   * The directions of the x, y and z axes.
   * The linear velocity of the frame.
   * The angular velocity of the frame.

   .. note::

      This class does not contain any properties or methods. It is only
      used as a parameter to other functions.

   .. function:: static ReferenceFrame create_relative(Client& connection, ReferenceFrame reference_frame, std::tuple<double, double, double> position = std::tuple<double, double, double>(0.0, 0.0, 0.0), std::tuple<double, double, double, double> rotation = std::tuple<double, double, double, double>(0.0, 0.0, 0.0, 1.0), std::tuple<double, double, double> velocity = std::tuple<double, double, double>(0.0, 0.0, 0.0), std::tuple<double, double, double> angular_velocity = std::tuple<double, double, double>(0.0, 0.0, 0.0))

      Create a relative reference frame. This is a custom reference frame
      whose components offset the components of a parent reference frame.

      :Parameters:

       * **reference_frame** -- The parent reference frame on which to base this reference frame.
       * **position** -- The offset of the position of the origin, as a position vector. Defaults to :math:`(0, 0, 0)`
       * **rotation** -- The rotation to apply to the parent frames rotation, as a quaternion of the form :math:`(x, y, z, w)`. Defaults to :math:`(0, 0, 0, 1)` (i.e. no rotation)
       * **velocity** -- The linear velocity to offset the parent frame by, as a vector pointing in the direction of travel, whose magnitude is the speed in meters per second. Defaults to :math:`(0, 0, 0)`.
       * **angular_velocity** -- The angular velocity to offset the parent frame by, as a vector. This vector points in the direction of the axis of rotation, and its magnitude is the speed of the rotation in radians per second. Defaults to :math:`(0, 0, 0)`.

   

   .. function:: static ReferenceFrame create_hybrid(Client& connection, ReferenceFrame position, ReferenceFrame rotation = ReferenceFrame(), ReferenceFrame velocity = ReferenceFrame(), ReferenceFrame angular_velocity = ReferenceFrame())

      Create a hybrid reference frame. This is a custom reference frame
      whose components inherited from other reference frames.

      :Parameters:

       * **position** -- The reference frame providing the position of the origin.
       * **rotation** -- The reference frame providing the rotation of the frame.
       * **velocity** -- The reference frame providing the linear velocity of the frame.
       * **angular_velocity** -- The reference frame providing the angular velocity of the frame.

   

      .. note::

         The *position* reference frame is required but all other
         reference frames are optional. If omitted, they are set to the
         *position* reference frame.