Source code for utils.Orientation

class Orientation:
    """
    Represents the orientation of the Smartphone.
    
    Attributes:
        - yaw (float): Rotation in degrees around the Z axis. Takes values between -180 and 180. The yaw angle turn is achieved by turning the base with the wheel motors and the PAN motor.
        - pitch (float): Rotation in degrees around the Y axis. Takes values between -180 and 180. The pitch angle turn is achieved by using the TILT motor or moving the robot through a frontally inclined plane.
        - roll (float): Rotation in degrees around the X axis. Takes values between -180 and 180. The turn in the roll angle cannot be achieved by Robobo, but if the surface on which it moves has a lateral inclination, it will change.

        .. image:: _static/orientation.jpg
            :alt: Image showing Robobo three main axes. Yaw is the vertical axis, positive upwards. Roll is the longitudinal axis, positive forward. Pitch is the transversal axis, positive to Robobo's right.

    """
    
    def __init__(self, yaw, pitch, roll):
        self.yaw = yaw
        self.pitch = pitch
        self.roll = roll

    def __str__(self):
        return "Orientation, yaw: " + str(self.yaw)+", pitch: " + str(self.pitch) + ", roll: " + str(self.roll)