Functions

Utilities functions

skrobot.coordinates.math._wrap_axis

Convert axis to float vector.

skrobot.coordinates.math._check_valid_rotation

Checks that the given rotation matrix is valid.

skrobot.coordinates.math._check_valid_translation

Checks that the translation vector is valid.

skrobot.coordinates.math.triple_product

Returns Triple Product

skrobot.coordinates.math.inverse_rodrigues

Inverse Rodrigues formula Convert Rotation-Matirx to Axis-Angle.

skrobot.coordinates.math.rotation_angle

Inverse Rodrigues formula Convert Rotation-Matirx to Axis-Angle.

skrobot.coordinates.math.make_matrix

Wrapper of numpy array.

skrobot.coordinates.math.random_rotation

Generates a random 3x3 rotation matrix.

skrobot.coordinates.math.random_translation

Generates a random translation vector.

skrobot.coordinates.math.midpoint

Return midpoint

skrobot.coordinates.math.midrot

Returns mid (or p) rotation matrix of given two matrix r1 and r2.

skrobot.coordinates.math.transform

Return transform m v

skrobot.coordinates.math.rotation_matrix

Return the rotation matrix.

skrobot.coordinates.math.rotate_vector

Rotate vector.

skrobot.coordinates.math.rotate_matrix

skrobot.coordinates.math.rpy_matrix

Return rotation matrix from yaw-pitch-roll

skrobot.coordinates.math.rpy_angle

Decomposing a rotation matrix to yaw-pitch-roll.

skrobot.coordinates.math.normalize_vector

Return normalized vector

skrobot.coordinates.math.matrix_log

Returns matrix log of given rotation matrix, it returns [-pi, pi]

skrobot.coordinates.math.matrix_exponent

Returns exponent of given omega.

skrobot.coordinates.math.outer_product_matrix

Returns outer product matrix of given v.

skrobot.coordinates.math.rotation_matrix_from_rpy

Returns Rotation matrix from yaw-pitch-roll angles.

skrobot.coordinates.math.rotation_matrix_from_axis

Return rotation matrix orienting first_axis

skrobot.coordinates.math.rodrigues

Rodrigues formula.

skrobot.coordinates.math.rotation_angle

Inverse Rodrigues formula Convert Rotation-Matirx to Axis-Angle.

skrobot.coordinates.math.rotation_distance

Return the distance of rotation matrixes.

skrobot.coordinates.math.axis_angle_from_matrix

Converts the rotation of a matrix into axis-angle representation.

skrobot.coordinates.math.angle_between_vectors

Returns the smallest angle in radians between two vectors.

Jacobian Functions

skrobot.coordinates.math.sr_inverse

Returns SR-inverse of given Jacobian.

skrobot.coordinates.math.sr_inverse_org

Return SR-inverse of given J

skrobot.coordinates.math.manipulability

Return manipulability of given matrix.

Quaternion Functions

skrobot.coordinates.math.xyzw2wxyz

Convert quaternion [x, y, z, w] to [w, x, y, z] order.

skrobot.coordinates.math.wxyz2xyzw

Convert quaternion [w, x, y, z] to [x, y, z, w] order.

skrobot.coordinates.math.random_quaternion

Generate uniform random unit quaternion.

skrobot.coordinates.math.quaternion_multiply

Return multiplication of two quaternions.

skrobot.coordinates.math.quaternion_conjugate

Return conjugate of quaternion.

skrobot.coordinates.math.quaternion_inverse

Return inverse of quaternion.

skrobot.coordinates.math.quaternion_slerp

Return spherical linear interpolation between two quaternions.

skrobot.coordinates.math.quaternion_distance

Return the distance of quaternion.

skrobot.coordinates.math.quaternion_absolute_distance

Return the absolute distance of quaternion.

skrobot.coordinates.math.quaternion_norm

Return the norm of quaternion.

skrobot.coordinates.math.quaternion_normalize

Return the normalized quaternion.

skrobot.coordinates.math.matrix2quaternion

Returns quaternion of given rotation matrix.

skrobot.coordinates.math.quaternion2matrix

Returns matrix of given quaternion.

skrobot.coordinates.math.quaternion2rpy

Returns Roll-pitch-yaw angles of a given quaternion.

skrobot.coordinates.math.rpy2quaternion

Return Quaternion from yaw-pitch-roll angles.

skrobot.coordinates.math.rpy_from_quat

Returns Roll-pitch-yaw angles of a given quaternion.

skrobot.coordinates.math.quat_from_rotation_matrix

Returns quaternion of given rotation matrix.

skrobot.coordinates.math.quat_from_rpy

Return Quaternion from yaw-pitch-roll angles.

skrobot.coordinates.math.rotation_matrix_from_quat

Returns matrix of given quaternion.

skrobot.coordinates.math.quaternion_from_axis_angle

Return the quaternion from axis angle

skrobot.coordinates.math.axis_angle_from_quaternion

Converts a quaternion into the axis-angle representation.

Geometry functions

skrobot.coordinates.geo.rotate_points

Rotate given points based on a starting and ending vector.