=================
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:
- XSens
- xio
- YEI
Compatible with Python 2 and 3.
Dependencies
------------
numpy, scipy, matplotlib, pandas, sympy, easygui
Homepage
--------
http://work.thaslwanter.at/skinematics/html/
Author: Thomas Haslwanter
Date: 11-06-2017
Ver: 0.4.1
Licence: BSD 2-Clause License (http://opensource.org/licenses/BSD-2-Clause)
Copyright (c) 2017, 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).
Data-Import
-----------
- 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
Markers
=======
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
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.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.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')
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
Interactive Data Analysis
=========================
- viewer.ts ... interactive viewer for time series data
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:
- XSens
- xio
- YEI
Compatible with Python 2 and 3.
Dependencies
------------
numpy, scipy, matplotlib, pandas, sympy, easygui
Homepage
--------
http://work.thaslwanter.at/skinematics/html/
Author: Thomas Haslwanter
Date: 11-06-2017
Ver: 0.4.1
Licence: BSD 2-Clause License (http://opensource.org/licenses/BSD-2-Clause)
Copyright (c) 2017, 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).
Data-Import
-----------
- 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
Markers
=======
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
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.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.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')
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
Interactive Data Analysis
=========================
- viewer.ts ... interactive viewer for time series data
1 maintainer
Release files for scikit-kinematics 0.4.1
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
| File | Size | Uploaded | |
|---|---|---|---|
| scikit-kinematics-0.4.1.tar.gz | 2.7 MB | Details |
Built distribution (wheel)
| File | Interpreter | ABI | Platform | Reset |
|---|---|---|---|---|
| scikit_kinematics-0.4.1-py2.py3-none-any.whl | Python 3, Python 2 | none | any | Details |
Total release size: 4.0 MB
Release files / scikit-kinematics-0.4.1.tar.gz
| Download URL | scikit-kinematics-0.4.1.tar.gz |
|---|---|
| Size | 2.7 MB |
| Tags | Source |
|
SHA-256 checksum How to use checksums |
65acd9350d1fbab430ad241fe1caf1656303bcd110fe462b1848f95a15e1d580
|
|
BLAKE2b-256 checksum How to use checksums |
956bef547ea49b677f21b5c981e7a2a54acd2273af9a486d491f91d550420fa4
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
No |
Release files / scikit_kinematics-0.4.1-py2.py3-none-any.whl
| Download URL | scikit_kinematics-0.4.1-py2.py3-none-any.whl |
|---|---|
| Size | 1.3 MB |
| Tags | Python 2 Python 3 |
|
SHA-256 checksum How to use checksums |
26a615be45a4d8d049c4c2c90048e91999c63d76f6ef241a28f5a5142fe48b52
|
|
BLAKE2b-256 checksum How to use checksums |
9c189a0bd70cfb4fb2a34da7de2429bad204b72b21f55c084d7cd13f2bf32521
|
| Upload date | |
|
Uploaded using Trusted Publishing? What is trusted publishing? |
No |
