Functions

Utilities functions

convert_to_axis_vector	Convert axis to float vector.
_check_valid_rotation	Checks that the given rotation matrix is valid.
_check_valid_translation	Checks that the translation vector is valid.
triple_product	Returns Triple Product
inverse_rodrigues	Inverse Rodrigues formula Convert Rotation-Matrix to Axis-Angle.
rotation_angle	Inverse Rodrigues formula Convert Rotation-Matrix to Axis-Angle.
make_matrix	Wrapper of numpy array.
random_rotation	Generates a random 3x3 rotation matrix.
random_translation	Generates a random translation vector.
midpoint	Return midpoint
interpolate_rotation_matrices	Interpolate between two rotation matrices.
transform	Return transform m v
rotation_matrix	Return the rotation matrix.
rotate_vector	Rotate vector.
rotate_matrix
rpy_matrix	Return rotation matrix from yaw-pitch-roll
rpy_angle	Decomposing a rotation matrix to yaw-pitch-roll.
normalize_vector	Return normalized vector
rotation_matrix_to_axis_angle_vector	Convert rotation matrix to axis-angle representation as a vector.
axis_angle_vector_to_rotation_matrix	Convert axis-angle vector representation to rotation matrix.
skew_symmetric_matrix	Returns skew-symmetric matrix of given vector v.
rotation_matrix_from_rpy	Returns Rotation matrix from yaw-pitch-roll angles.
rotation_matrix_from_axis	Return rotation matrix orienting first_axis
rodrigues	Rodrigues formula.
rotation_angle	Inverse Rodrigues formula Convert Rotation-Matrix to Axis-Angle.
rotation_distance	Return the geodesic distance between two rotations.
axis_angle_from_matrix	Converts the rotation of a matrix into axis-angle representation.
angle_between_vectors	Returns the smallest angle in radians between two vectors.
matrix2ypr	Convert rotation matrix to yaw-pitch-roll angles.
matrix2rpy	Extract roll, pitch, yaw angles from rotation matrix.
ypr2matrix	Create rotation matrix from yaw, pitch, roll angles.
rpy2matrix	Create rotation matrix from roll, pitch, yaw angles.

Jacobian Functions

sr_inverse	Returns SR-inverse of given Jacobian.
sr_inverse_org	Return SR-inverse of given J
manipulability	Compute manipulability for a single matrix or each matrix in a batch.

Quaternion Functions

xyzw2wxyz	Convert quaternion [x, y, z, w] to [w, x, y, z] order.
wxyz2xyzw	Convert quaternion [w, x, y, z] to [x, y, z, w] order.
random_quaternion	Generate uniform random unit quaternion.
quaternion_multiply	Return multiplication of two quaternions.
quaternion_conjugate	Return conjugate of quaternion.
quaternion_inverse	Return inverse of quaternion.
quaternion_slerp	Return spherical linear interpolation between two quaternions.
quaternion_distance	Return the distance of quaternion.
quaternion_absolute_distance	Return the absolute distance of quaternion.
quaternion_norm	Return the norm of quaternion.
quaternion_normalize	Return the normalized quaternion.
matrix2quaternion	Returns quaternion of given rotation matrix.
quaternion2matrix	Returns matrix of given quaternion.
quaternion2rpy	Returns Roll-pitch-yaw angles of a given quaternion.
rpy2quaternion	Return Quaternion from yaw-pitch-roll angles.
rpy_from_quat	Returns Roll-pitch-yaw angles of a given quaternion.
quat_from_rotation_matrix	Returns quaternion of given rotation matrix.
quat_from_rpy	Return Quaternion from yaw-pitch-roll angles.
rotation_matrix_from_quat	Returns matrix of given quaternion.
quaternion_from_axis_angle	Return the quaternion from axis angle
axis_angle_from_quaternion	Converts a quaternion into the axis-angle representation.

Geometry functions

rotate_points

Rotate given points based on a starting and ending vector.

Deprecated Functions

These functions are deprecated and will be removed in future versions. Please use their replacements instead.

Deprecated Functions:

• matrix_log() → Use rotation_matrix_to_axis_angle_vector() instead

• matrix_exponent() → Use axis_angle_vector_to_rotation_matrix() instead

• midrot() → Use interpolate_rotation_matrices() instead

• outer_product_matrix() → Use skew_symmetric_matrix() instead