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https://github.com/cmower/spatial-casadi
Spatial transformation library for CasADi Python.
https://github.com/cmower/spatial-casadi
3d casadi euler-angles homogeneous-transformations math python quaternion robot rotation-matrix
Last synced: 3 months ago
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Spatial transformation library for CasADi Python.
- Host: GitHub
- URL: https://github.com/cmower/spatial-casadi
- Owner: cmower
- License: lgpl-3.0
- Created: 2023-03-12T21:26:21.000Z (almost 2 years ago)
- Default Branch: master
- Last Pushed: 2023-05-03T20:26:40.000Z (over 1 year ago)
- Last Synced: 2024-06-30T12:16:10.174Z (7 months ago)
- Topics: 3d, casadi, euler-angles, homogeneous-transformations, math, python, quaternion, robot, rotation-matrix
- Language: Python
- Homepage: https://cmower.github.io/spatial-casadi/
- Size: 278 KB
- Stars: 8
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
- Citation: CITATION.cff
Awesome Lists containing this project
README
# spatial-casadi
[](https://github.com/psf/black)
This package implements various data structures and helper methods for manipulating spatial transformations using [CasADi](https://web.casadi.org/) variables in Python.
The library interface is partially based on the [Scipy spatial module](https://docs.scipy.org/doc/scipy/reference/spatial.html).
- Code: [https://github.com/cmower/spatial-casadi](https://github.com/cmower/spatial-casadi)
- Documentation: [https://cmower.github.io/spatial-casadi/](https://cmower.github.io/spatial-casadi/)
- PyPI: [https://pypi.org/project/spatial-casadi](https://pypi.org/project/spatial-casadi/)
- Issues: [https://github.com/cmower/spatial-casadi/issues](https://github.com/cmower/spatial-casadi/issues)
# Examples
There are three main data structures: [Rotation](https://cmower.github.io/spatial-casadi/classspatial__casadi_1_1spatial_1_1Rotation.html), [Translation](https://cmower.github.io/spatial-casadi/classspatial__casadi_1_1spatial_1_1Translation.html), and [Transformation](https://cmower.github.io/spatial-casadi/classspatial__casadi_1_1spatial_1_1Transformation.html).
The following showcases some of the main functionality of the library.
```
>>> import spatial_casadi as sc
>>> import casadi as cs
>>> cs.np.random.seed(10)
>>> euler = cs.SX.sym("euler", 3)
>>> sc.Rotation.from_euler('xyz', euler).as_quat()
SX(@1=2, @2=cos((x_2/@1)), @3=cos((x_1/@1)), @4=sin((x_0/@1)), @5=(@3*@4), @6=sin((x_2/@1)), @7=cos((x_0/@1)), @8=sin((x_1/@1)), @9=(@7*@8), @10=(@3*@7), @11=(@8*@4), [((@2*@5)-(@6*@9)), ((@2*@9)+(@6*@5)), ((@10*@6)-(@2*@11)), ((@2*@10)+(@6*@11))])
>>> r = sc.Rotation.random()
>>> r.as_quat()
DM([0.615982, 0.330883, -0.71489, -0.0038783])
>>> r.as_rotvec()
DM([-1.9304, -1.03694, 2.24037])
>>> r.as_matrix()
DM(
[[-0.241103, 0.40209, -0.883285],
[0.41318, -0.781003, -0.468312],
[-0.878152, -0.477867, 0.0221665]])
>>> r.as_euler('xyz')
DM([-1.52444, 1.07199, 2.09902])
>>> r.as_mrp()
DM([-0.613602, -0.329604, 0.712128])
>>> sc.Rotation.from_euler('x', 90, degrees=True).as_matrix()
DM(
[[1, 0, 0],
[0, 2.22045e-16, -1],
[0, 1, 2.22045e-16]])
>> r1 = sc.Rotation.random()
>>> r1.as_quat()
DM([0.625459, -0.724863, 0.267273, 0.109269])
>> r2 = sc.Rotation.random()
>>> r2.as_quat()
DM([0.00332548, -0.1353, 0.335557, 0.932247])
>>> (r1 * r2).as_quat()
DM([0.376374, -0.899524, 0.203617, -0.0879736])
```
# Install
## From PyPI
```shell
$ pip install spatial-casadi
$ pip install spatial-casadi[test] # if you want to run the test scripts
```
## From source
In a new terminal:
1. Clone repository:
- (ssh) `$ git clone [email protected]:cmower/spatial-casadi.git`, or
- (https) `$ git clone https://github.com/cmower/spatial-casadi.git`
2. Change directory: `$ cd spatial-casadi`
3. Ensure `pip` is up-to-date: `$ python -m pip install --upgrade pip`
3. Install from source:
- (main library) `$ pip install .`
- (when you want to also run the test scripts) `$ pip install .[test]`
# Running the test scripts
1. Install `spatial-casadi` from source and ensure you install the `test` packages (see previous section).
2. Change directory: `$ cd /path/to/spatial-casadi`
3. Run tests: `pytest`
# Build documentation
The documentation is hosted [here](https://cmower.github.io/spatial-casadi/).
However, if you want to build it yourself, then follow these steps.
In a new terminal:
1. Clone repository:
- (ssh) `$ git clone [email protected]:cmower/spatial-casadi.git`, or
- (https) `$ git clone https://github.com/cmower/spatial-casadi.git`
2. Change directory: `$ cd spatial-casadi/doc`
3. Install doxygen: `$ sudo apt install doxygen`
4. Build documentation: `$ doxygen`
5. View documentation:
- In a browser, open `html/index.html`
- Build pdf (requires LaTeX)
- `$ cd latex`
- `$ make`
- Open the file called `refman.pdf`
# Citing
If you use `spatial-casadi` in your work, please consider citing the following.
```bibtex
@software{Mower2023
title = "Spatial CasADi: A Compact Library for Manipulating Spatial Transformations",
author = "Christopher E. Mower",
year = "2023",
url = {https://github.com/cmower/spatial-casadi},
}
```
# Contributing
If you have any issues with the library, or find inaccuracies in the documentation please [raise an issue](https://github.com/cmower/spatial-casadi/issues/new/choose).
I am happy to consider new features if you [fork the library](https://github.com/cmower/spatial-casadi/fork) and submit a pull request.