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: 18-10-2018

Ver: 0.8.0

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 --upgrade --no-deps scikit-kinematics

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.IMU.set_qtype ... sets q_type, and automatically performs the relevant calculations.

- 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

- view.orientation ... visualize and animate orientations, expressed as quaternions.

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: 18-10-2018

Ver: 0.8.0

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 --upgrade --no-deps scikit-kinematics

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.IMU.set_qtype ... sets q_type, and automatically performs the relevant calculations.

- 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

- view.orientation ... visualize and animate orientations, expressed as quaternions.

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