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https://github.com/dehann/transformutils.jl

Lie groups and algebra with some quaternions
https://github.com/dehann/transformutils.jl

2d 3d euler expmap lie-algebra lie-groups logmap quaternion rigid-transformations rotations-operations se2 se3 so3

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Lie groups and algebra with some quaternions

Host: GitHub
URL: https://github.com/dehann/transformutils.jl
Owner: dehann
License: mit
Created: 2016-05-16T20:39:45.000Z (over 8 years ago)
Default Branch: master
Last Pushed: 2024-09-17T16:05:11.000Z (2 months ago)
Last Synced: 2024-09-18T11:25:14.440Z (2 months ago)
Topics: 2d, 3d, euler, expmap, lie-algebra, lie-groups, logmap, quaternion, rigid-transformations, rotations-operations, se2, se3, so3
Language: Julia
Size: 153 KB
Stars: 19
Watchers: 5
Forks: 9
Open Issues: 9
Metadata Files:
- Readme: README.md
- License: LICENSE

Awesome Lists containing this project

README

        # TransformUtils.jl

[![Build Status](https://travis-ci.org/dehann/TransformUtils.jl.svg?branch=master)](https://travis-ci.org/dehann/TransformUtils.jl)

[![codecov.io](https://codecov.io/github/dehann/TransformUtils.jl/coverage.svg?branch=master)](https://codecov.io/github/dehann/TransformUtils.jl?branch=master)

[![TransformUtils](http://pkg.julialang.org/badges/TransformUtils_0.6.svg)](http://pkg.julialang.org/?pkg=TransformUtils&ver=0.6)

[![TransformUtils](http://pkg.julialang.org/badges/TransformUtils_0.7.svg)](http://pkg.julialang.org/?pkg=TransformUtils&ver=0.7)

[![TransformUtils](http://pkg.julialang.org/badges/TransformUtils_1.0.svg)](http://pkg.julialang.org/?pkg=TransformUtils&ver=1.0)

Lie groups and algebra, quaternions, Angle Axis and Euler angles; products and compare also available.

## NOTICE

(4Q2020) This package should become a utility wrapper around [`CoordinateTransformations.jl`](https://github.com/JuliaGeometry/CoordinateTransformations.jl) and probably change name to `CoordinateTransformationsUtilities.jl`.  Also see [`Rotations.jl`](https://github.com/JuliaGeometry/Rotations.jl) which also supports type conversions.  Work is ongoing to consolidate with [JuliaManifolds](https://github.com/JuliaManifolds/Manifolds.jl).

## Introduction

This package is a growing collection of Lie Group/Algebra, Quaternion, Euler, AxisAngle representations. Including convert functions between each, and overloading operators for those sets. The package already includes exponential, logarithm maps and Jacobians for Lie SO(3). SE(3) mostly complete.

### Interesting usage

Supports mangle products, for example (using identity constructors):

    julia> pp = SO3(0) * Quaternion(0) * so3(0.1*randn(3)) * AngleAxis(0)

Or maybe you want to compare against another rotation

    julia> compare(SO3(0), pp) # returns true or false

## Install

    Pkg.add("TransformUtils")

# To do's

Mangled compare functions

    compare(Quaternion(0), SO3(0))

Rework SE(2) to type, and not functions