Needle Shape Sensing library
Project description
# 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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