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: 17-07-2017

Ver: 0.4.4

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: 17-07-2017

Ver: 0.4.4

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

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