Skip to main content

Dual quaternion ROS converter

Project description

Simple conversion methods for going from ROS geometry_msgs to dual quaternions and vice versa

NOTE: there is no concept of ‘from’ and ‘to’ as frame names aren’t tracked or used (e.g. use of Pose iso PoseStamped). It is up to the user to keep track of those.

Installation & Requirements

In this directory:

pip install .


  • dual_quaternions


Import using:

from dual_quaternions_ros import from_ros_pose, from_ros_transform, ros_pose, ros_transform

Publishing and getting transforms from tf

This package purposefully doesn’t have methods to receive and publish transforms to tf. Instead, it supports converting transforms to various ROS messages so you can use the standard way of interfacing:

br = tf2_ros.TransformBroadcaster()
T_odom_baselink = DualQuaternion(...)
msg = geometry_msgs.msg.TransformStamped()
msg.transform = T_odom_baselink.ros_transform
msg.header.frame_id = 'odom'
msg.child_frame_id = 'base_link'

Project details

Download files

Download the file for your platform. If you're not sure which to choose, learn more about installing packages.

Files for dual-quaternions-ros, version 0.1.0
Filename, size File type Python version Upload date Hashes
Filename, size dual_quaternions_ros-0.1.0-py2-none-any.whl (3.5 kB) File type Wheel Python version py2 Upload date Hashes View
Filename, size dual_quaternions_ros-0.1.0.tar.gz (2.1 kB) File type Source Python version None Upload date Hashes View

Supported by

AWS AWS Cloud computing Datadog Datadog Monitoring DigiCert DigiCert EV certificate Facebook / Instagram Facebook / Instagram PSF Sponsor Fastly Fastly CDN Google Google Object Storage and Download Analytics Pingdom Pingdom Monitoring Salesforce Salesforce PSF Sponsor Sentry Sentry Error logging StatusPage StatusPage Status page