rigid-body-motion 0.1.0

Python utilities for estimating and transforming rigid body motion.

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.

Installation

rigid-body-motion can be installed via pip:

$ pip install rigid-body-motion

or via conda:

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

Examples

Transform numpy arrays between coordinate systems:

import numpy as np
import rigid_body_motion as rbm

arr_cart = np.ones((10, 2))
arr_polar = rbm.transform_coordinates(arr_cart, outof="cartesian", into="polar")

Transform numpy arrays across a tree of reference frames:

import numpy as np
import rigid_body_motion as rbm

rbm.register_frame("world")
rbm.register_frame("child", parent="world", translation=(1., 0., 0.))
rbm.register_frame("child2", parent="world", translation=(-1., 0., 0.))

arr_child = np.ones((10, 3))
arr_child2 = rbm.transform_points(arr_child, outof="child", into="child2")

Credits

This package was created with Cookiecutter and the audreyr/cookiecutter-pypackage project template.

History

0.1.0 (tbd)

• First release on PyPI.