Skip to main content

Python utilites for movements in 3d space

Project description


*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:
- XSens
- xio

Compatible with Python 2 and 3.

numpy, scipy, matplotlib, pandas, sympy, easygui


Author: Thomas Haslwanter
Date: 23-05-2016
Ver: 0.2.8
Licence: BSD 2-Clause License (
Copyright (c) 2016, Thomas Haslwanter
All rights reserved.

You can install thlib with

pip install scikit-kinematics

and upgrade to a new version with

pip install scikit-kinematics -U


Analysis of signals from IMUs (intertial-measurement-units).

- imyus.import_data ... Read in Rate and stored 3D parameters from a variety of IMUs

- sensors.xio ... Import data recorded with xio-systems
- sensors.xsens ... Import data recorded with XSens-systems
- sensors.yei ... Import data recorded with YEI-systems

MARG Systems
- imus.calc_QPos ... Calculate orientation and position, from angular velocity and linear acceleration
- imus.kalman_quat ... Calculate orientation from IMU-data using an Extended Kalman Filter.

- imus.IMU ... Class for working with data from IMUs
- imus.IMU.calc_orientation ... calculate orientation
- imus.IMU.calc_position ... calculate position
- imus.IMU.setData ... set the properties of an IMU-object
- imus.MadgwickAHRS ... Class for calculating the 3D orientation with the Madgwick-algorithm
- imus.MahonyAHRS ... Class for calculating the 3D orientation with the Mahony-algorithm


Analysis of signals from video-based marker-recordings of 3D movements

- markers.analyze3Dmarkers ... Kinematic analysis of video-basedrecordings of 3D markers
- markers.movement_from_markers ... Calculation of joint-movements from 3D marker positions


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.quatconj ... Conjugate quaternion
- quat.quatinv ... Quaternion inversion
- quat.quatmult ... Quaternion multiplication

Conversion routines - quaternions

- quat.deg2quat ... Convert number or axis angles to quaternion vectors
- quat.quat2deg ... Convert quaternion to corresponding axis angle
- quat.quat2rotmat ... Convert quaternion to corresponding rotation matrix
- quat.quat2vect ... Extract the vector part from a quaternion
- quat.rotmat2quat ... Convert a rotation matrix to the corresponding quaternion
- quat.vect2quat ... Externd a quaternion vector to a unit quaternion.
- quat.vel2quat ... Calculate orientation from a starting orientation and angular velocity.

Rotation Matrices

Definition of rotation matrices

- rotmat.R1 ... 3D rotation matrix for rotation about the 1-axis
- rotmat.R2 ... 3D rotation matrix for rotation about the 2-axis
- rotmat.R3 ... 3D rotation matrix for rotation about the 3-axis

Conversion Routines - rotation matrices
- rotmat.rotmat2Fick ... Calculation of Fick angles
- rotmat.rotmat2Helmholtz ... Calculation of Helmholtz angles

Symbolic matrices

- rotmat.R1_s() ... symbolix matrix for rotation about the 1-axis
- rotmat.R2_s() ... symbolix matrix for rotation about the 2-axis
- rotmat.R3_s() ... symbolix matrix for rotation about the 3-axis

For example, you can e.g. generate a Fick-matrix, with

>>> R_Fick = R3_s() * R2_s() * R1_s()


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.qrotate ... Quaternion indicating the shortest rotation from one vector into another.
- vector.rotate_vector ... Rotation of a vector

Interactive Data Analysis

- viewer.ts ... interactive viewer for time series data

Project details

Download files

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

Files for scikit-kinematics, version 0.2.8
Filename, size File type Python version Upload date Hashes
Filename, size (1.1 MB) File type Source Python version None Upload date Hashes View

Supported by

AWS AWS Cloud computing Datadog Datadog Monitoring DigiCert DigiCert EV certificate Facebook / Instagram Facebook / Instagram PSF Sponsor Fastly Fastly CDN Google Google Object Storage and Download Analytics Pingdom Pingdom Monitoring Salesforce Salesforce PSF Sponsor Sentry Sentry Error logging StatusPage StatusPage Status page