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https://github.com/thomas-haslwanter/scikit-kinematics

Python functions for working with 3D kinematics.
https://github.com/thomas-haslwanter/scikit-kinematics

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Python functions for working with 3D kinematics.

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README 

        
![Title](docs/Images/skinematics.png)

===

scikit-kinematics

===



*scikit-kinematics* primarily contains functions for working with 3D

kinematics, e.g quaternions and rotation matrices. This includes

utilities to read in data from the following IMU-sensors: - polulu -

XSens - xio - xio-NGIMU - YEI



Compatible with Python >= 3.5



Dependencies

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



numpy, scipy, matplotlib, pandas, sympy, easygui



Homepage

--------



Author: Thomas Haslwanter Date: 11-07-2024 Ver: 0.9.3 Licence: BSD

2-Clause License ()

Copyright (c) 2024, Thomas Haslwanter All rights reserved.



Installation

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



You can install scikit-kinematics with



> pip install scikit-kinematics



and upgrade to a new version with



> pip install --upgrade --no-deps scikit-kinematics



IMUs

====



Analysis of signals from IMUs (intertial-measurement-units). Read in

data, calculate orientation (with one of the algorithms below)



-   get\_data ... This method must be taken from one of the existing

    sensors, or from your own sensor. Currenlty the following sensors

    types are available:

    -   XSens

    -   xio (original, and NGIMU)

    -   yei



    \* polulu

-   calc\_position



MARG Systems

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



-   imus.analytical ... Calculate orientation and position, from angular

    velocity and linear acceleration

-   imus.kalman ... Calculate orientation from IMU-data using an

    Extended Kalman Filter.

-   



    imus.IMU ... Class for working with data from IMUs



    :   -   imus.IMU.calc\_position ... calculate position

        -   imus.IMU.setData ... set the properties of an IMU-object

        -   imus.IMU.set\_qtype ... sets q\_type, and automatically

            performs the relevant calculations.



-   imus.Madgwick ... Class for calculating the 3D orientation with the

    Madgwick-algorithm

-   imus.Mahony ... Class for calculating the 3D orientation with the

    Mahony-algorithm



Markers

=======



Analysis of signals from video-based marker-recordings of 3D movements



-   markers.analyze\_3Dmarkers ... Kinematic analysis of

    video-basedrecordings of 3D markers

-   markers.find\_trajectory ... Calculation of joint-movements from 3D

    marker positions



Quaternions

===========



Note that all these functions work with single quaternions and

quaternion vectors, as well as with arrays containing these.



Quaternion class

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



-   



    quat.Quaternion ... class, including overloading for multiplication and



    :   division (e.g. "quatCombined = quat1 \* quat2"), import and

        export



Functions for working with quaternions

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



-   quat.q\_conj ... Conjugate quaternion

-   quat.q\_inv ... Quaternion inversion

-   quat.q\_mult ... Quaternion multiplication

-   quat.q\_scalar ... Extract the scalar part from a quaternion

-   quat.q\_vector ... Extract the vector part from a quaternion

-   quat.unit\_q ... Extend a quaternion vector to a unit quaternion.



Conversion routines - quaternions

--------------------------------=



-   quat.calc\_angvel ... Calculates the velocity in space from

    quaternions

-   quat.calc\_quat ... Calculate orientation from a starting

    orientation and angular velocity.

-   quat.convert ... Convert quaternion to corresponding rotation matrix

    or Gibbs vector

-   quat.deg2quat ... Convert number or axis angles to quaternion

    vectors

-   quat.quat2seq ... Convert quaternions to sequention rotations

    ("nautical" angles, etc)

-   quat.scale2deg ... Convert quaternion to corresponding axis angle



Rotation Matrices

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



Definition of rotation matrices

------------------------------=



-   rotmat.R ... 3D rotation matrix for rotation about a coordinate axis



Conversion Routines - rotation matrices

--------------------------------------=



-   rotmat.convert ... Convert a rotation matrix to the corresponding

    quaternion

-   rotmat.seq2quat ... Convert nautical angles etc. to quaternions

-   rotmat.sequence ... Calculation of Euler, Fick, Helmholtz, ...

    angles



Symbolic matrices

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



-   rotmat.R\_s() ... symbolix matrix for rotation about a coordinate

    axis



For example, you can e.g. generate a Fick-matrix, with



>>> R\_Fick = R\_s(2, 'theta') \* R\_s(1, 'phi') \* R\_s(0,

'psi')



Spatial Transformation Matrices

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



-   rotmat.stm ... spatial transformation matrix, for combined

    rotations/translations

-   rotmat.stm\_s() ... symbolix spatial transformation matrix



Denavit-Hartenberg Transformations

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



-   rotmat.dh ... Denavit-Hartenberg transformation matrix

-   rotmat.dh\_s ... symbolic Denavit-Hartenberg transformation matrix



Vectors

=======



Routines for working with vectors These routines can be used with

vectors, as well as with matrices containing a vector in each row.



-   vector.normalize ... Vector normalization

-   vector.project ... Projection of one vector onto another one

-   vector.GramSchmidt ... Gram-Schmidt orthogonalization of three

    points

-   vector.q\_shortest\_rotation ... Quaternion indicating the shortest

    rotation from one vector into another.

-   vector.rotate\_vector ... Rotation of a vector

-   vector.target2orient ... Convert target location into orientation

    angles



Interactive Data Analysis

========================-



-   viewer.ts ... interactive viewer for time series data

-   view.orientation ... visualize and animate orientations, expressed

    as quaternions.



Simulations

===========



- simulate_movements ... calculated ideal IMU-signals for combined rotations/translations



## Errata

The file [Errata.pdf](Errata.pdf) contains the a list of mistakes in the manuscript, and

the corresponding corrections.