Functions¶
Utilities functions¶
Convert axis to float vector. |
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Checks that the given rotation matrix is valid. |
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Checks that the translation vector is valid. |
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Returns Triple Product |
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Inverse Rodrigues formula Convert Rotation-Matirx to Axis-Angle. |
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Inverse Rodrigues formula Convert Rotation-Matirx to Axis-Angle. |
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Wrapper of numpy array. |
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Generates a random 3x3 rotation matrix. |
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Generates a random translation vector. |
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Return midpoint |
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Returns mid (or p) rotation matrix of given two matrix r1 and r2. |
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Return transform m v |
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Return the rotation matrix. |
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Rotate vector. |
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Return rotation matrix from yaw-pitch-roll |
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Decomposing a rotation matrix to yaw-pitch-roll. |
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Return normalized vector |
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Returns matrix log of given rotation matrix, it returns [-pi, pi] |
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Returns exponent of given omega. |
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Returns outer product matrix of given v. |
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Returns Rotation matrix from yaw-pitch-roll angles. |
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Return rotation matrix orienting first_axis |
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Rodrigues formula. |
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Inverse Rodrigues formula Convert Rotation-Matirx to Axis-Angle. |
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Return the distance of rotation matrixes. |
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Converts the rotation of a matrix into axis-angle representation. |
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Returns the smallest angle in radians between two vectors. |
Jacobian Functions¶
Returns SR-inverse of given Jacobian. |
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Return SR-inverse of given J |
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Return manipulability of given matrix. |
Quaternion Functions¶
Convert quaternion [x, y, z, w] to [w, x, y, z] order. |
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Convert quaternion [w, x, y, z] to [x, y, z, w] order. |
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Generate uniform random unit quaternion. |
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Return multiplication of two quaternions. |
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Return conjugate of quaternion. |
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Return inverse of quaternion. |
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Return spherical linear interpolation between two quaternions. |
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Return the distance of quaternion. |
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Return the absolute distance of quaternion. |
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Return the norm of quaternion. |
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Return the normalized quaternion. |
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Returns quaternion of given rotation matrix. |
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Returns matrix of given quaternion. |
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Returns Roll-pitch-yaw angles of a given quaternion. |
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Return Quaternion from yaw-pitch-roll angles. |
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Returns Roll-pitch-yaw angles of a given quaternion. |
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Returns quaternion of given rotation matrix. |
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Return Quaternion from yaw-pitch-roll angles. |
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Returns matrix of given quaternion. |
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Return the quaternion from axis angle |
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Converts a quaternion into the axis-angle representation. |
Geometry functions¶
Rotate given points based on a starting and ending vector. |