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Needle Shape Sensing library

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# python-needle-shape-sensing Author: Dimitri Lezcano

This is a library of functions for needle shape sensing meant.

## Package layout ### numerical A library of numerical functions like integrations like Euler-Poincare integration.

  • simpson_vec_int: a function to perform Simpson Vector integration

  • intEP_w0: Integration of the Euler-Poincare equation given a intrinsic angular deformation

### cost_functions A library of cost functions for shape-sensing optimizations

  • singlebend_cost: A cost function to curvature measurements applied for the single-bend and single-layer homogenous tissue needle insertion

### geometry A library of geometrical functions (mostly for rigid body mechanics)

  • hat: perform the inverse vee operation

  • is_(so2|so3|se3): Determine if a matrix is of the for (so(2) | so(3) | se(3))

  • is_(SO2|SO3|SE3): Determine if a matrix is of the for (SO(2) | SO(3) | SE(3))

  • is_(skew)symm: Determine if a matrix is (skew-)symmetric

  • vee: Convert (SO(2) | SO(3) | SE(3)) matrix -> (so(2) | so(3) | se(3)) element

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