https://github.com/phausamann/rigid-body-motion

Python utilities for estimating and transforming rigid body motion.
https://github.com/phausamann/rigid-body-motion

motion numpy python

Last synced: 2 months ago
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Python utilities for estimating and transforming rigid body motion.

• Host: GitHub
• URL: https://github.com/phausamann/rigid-body-motion
• Owner: phausamann
• License: mit
• Created: 2019-05-20T13:47:11.000Z (over 5 years ago)
• Default Branch: master
• Last Pushed: 2023-08-06T11:29:16.000Z (over 1 year ago)
• Last Synced: 2024-10-02T23:37:44.553Z (3 months ago)
• Topics: motion, numpy, python
• Language: Python
• Homepage: https://rigid-body-motion.readthedocs.io
• Size: 15.3 MB
• Stars: 15
• Watchers: 1
• Forks: 2
• Open Issues: 3
• Metadata Files:
  • Readme: README.rst
  • Changelog: HISTORY.rst
  • Contributing: CONTRIBUTING.rst
  • License: LICENSE

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=================

rigid-body-motion

=================

Python utilities for estimating and transforming rigid body motion.

Documentation: https://rigid-body-motion.readthedocs.io

Overview

--------

This package provides a high-level interface for transforming arrays

describing motion of rigid bodies between different coordinate systems and

reference frames. The core of the reference frame handling is a fast

re-implementation of ROS's ``tf2`` library using ``numpy`` and

``numpy-quaternion``. The package also provides first-class support for

xarray_ data types.

.. _xarray: https://xarray.pydata.org

Installation

------------

rigid-body-motion can be installed via ``pip``:

.. code-block:: console

    $ pip install rigid-body-motion

or via ``conda``:

.. code-block:: console

    $ conda install -c phausamann -c conda-forge rigid-body-motion

Highlights

----------

rigid-body-motion makes it possible to:

* Construct trees of static and moving reference frames

* Lookup transforms and velocities across the tree

* Seamlessly transform positions, orientations and velocities across the tree

* Estimate transforms from motion data

* Transform data into different coordinate representations

* Import data from common motion tracking systems

* Visualize reference frames and motion data with matplotlib or RViz

* ... and more!

Credits

-------

This package was created with Cookiecutter_ and the `audreyr/cookiecutter-pypackage`_ project template.

.. _Cookiecutter: https://github.com/audreyr/cookiecutter

.. _`audreyr/cookiecutter-pypackage`: https://github.com/audreyr/cookiecutter-pypackage