Skip to main content
Help us improve Python packaging – donate today!

Python utilites for movements in 3d space

Project Description

=================
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
--------
http://work.thaslwanter.at/skinematics/html/

Author: Thomas Haslwanter
Date: 25-04-2018
Ver: 0.7.6
Licence: BSD 2-Clause License (http://opensource.org/licenses/BSD-2-Clause)
Copyright (c) 2018, 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 scikit-kinematics -U

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.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


Release history Release notifications

This version
History Node

0.7.6

History Node

0.7.5

History Node

0.7.4

History Node

0.7.3

History Node

0.7.2

History Node

0.7.1

History Node

0.7.0

History Node

0.6.9

History Node

0.6.8

History Node

0.6.7

History Node

0.6.6

History Node

0.6.5

History Node

0.6.4

History Node

0.6.3

History Node

0.6.2

History Node

0.6.1

History Node

0.6.0

History Node

0.5.4

History Node

0.5.3

History Node

0.5.2

History Node

0.5.1

History Node

0.5.0

History Node

0.4.6

History Node

0.4.5

History Node

0.4.4

History Node

0.4.3

History Node

0.4.2

History Node

0.4.1

History Node

0.4.0

History Node

0.3.8

History Node

0.3.7

History Node

0.3.6

History Node

0.3.5

History Node

0.3.4

History Node

0.3.4a0

History Node

0.3.3

History Node

0.3.3a0

History Node

0.3.2

History Node

0.3.1

History Node

0.3.0

History Node

0.2.10

History Node

0.2.9

History Node

0.2.8

History Node

0.2.7

History Node

0.2.6

History Node

0.2.5

History Node

0.2.4

History Node

0.2.3

History Node

0.2.2

History Node

0.2.1

History Node

0.2.0

History Node

0.1.6

History Node

0.1.5

History Node

0.1.4

History Node

0.1.3

History Node

0.1.2

History Node

0.1.1

History Node

0.1.0

Download files

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

Filename, size & hash SHA256 hash help File type Python version Upload date
scikit_kinematics-0.7.6-py2.py3-none-any.whl (2.0 MB) Copy SHA256 hash SHA256 Wheel py2.py3 Apr 25, 2018
scikit-kinematics-0.7.6.tar.gz (3.7 MB) Copy SHA256 hash SHA256 Source None Apr 25, 2018

Supported by

Elastic Elastic Search Pingdom Pingdom Monitoring Google Google BigQuery Sentry Sentry Error logging CloudAMQP CloudAMQP RabbitMQ AWS AWS Cloud computing Fastly Fastly CDN DigiCert DigiCert EV certificate StatusPage StatusPage Status page