Skip to main content

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:
- 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


Project details


Download files

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

Source Distribution

scikit-kinematics-0.4.1.tar.gz (2.7 MB view details)

Uploaded Source

Built Distribution

scikit_kinematics-0.4.1-py2.py3-none-any.whl (1.3 MB view details)

Uploaded Python 2Python 3

File details

Details for the file scikit-kinematics-0.4.1.tar.gz.

File metadata

File hashes

Hashes for scikit-kinematics-0.4.1.tar.gz
Algorithm Hash digest
SHA256 65acd9350d1fbab430ad241fe1caf1656303bcd110fe462b1848f95a15e1d580
MD5 5a9f6624efe646e4c3e940af2854fdb6
BLAKE2b-256 956bef547ea49b677f21b5c981e7a2a54acd2273af9a486d491f91d550420fa4

See more details on using hashes here.

File details

Details for the file scikit_kinematics-0.4.1-py2.py3-none-any.whl.

File metadata

File hashes

Hashes for scikit_kinematics-0.4.1-py2.py3-none-any.whl
Algorithm Hash digest
SHA256 26a615be45a4d8d049c4c2c90048e91999c63d76f6ef241a28f5a5142fe48b52
MD5 5d273d6c050c29f590183d296ef33ad9
BLAKE2b-256 9c189a0bd70cfb4fb2a34da7de2429bad204b72b21f55c084d7cd13f2bf32521

See more details on using hashes here.

Supported by

AWS Cloud computing and Security Sponsor Datadog Monitoring Fastly CDN Google Download Analytics Pingdom Monitoring Sentry Error logging StatusPage Status page