Python utilites for movements in 3d space
Project description
=================
scikitkinematics
=================
*scikitkinematics* primarily contains functions for working with 3D
kinematics, e.g quaternions and rotation matrices.
This includes utilities to read in data from the following IMUsensors:
 XSens
 xio
 YEI
Compatible with 3 only (Python 2 is no longer tested).
Dependencies

numpy, scipy, matplotlib, pandas, sympy, easygui
Homepage

http://work.thaslwanter.at/skinematics/html/
Author: Thomas Haslwanter
Date: 18122017
Ver: 0.6.5
Licence: BSD 2Clause License (http://opensource.org/licenses/BSD2Clause)
Copyright (c) 2017, Thomas Haslwanter
All rights reserved.
Installation

You can install scikitkinematics with
pip install scikitkinematics
and upgrade to a new version with
pip install scikitkinematics U
IMUs
====
Analysis of signals from IMUs (intertialmeasurementunits).
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
* yei
* polulu
 calc_position
MARG Systems

 imus.analytical ... Calculate orientation and position, from angular velocity and linear acceleration
 imus.kalman ... Calculate orientation from IMUdata 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 IMUobject
 imus.Madgwick ... Class for calculating the 3D orientation with the Madgwickalgorithm
 imus.Mahony ... Class for calculating the 3D orientation with the Mahonyalgorithm
Markers
=======
Analysis of signals from videobased markerrecordings of 3D movements
 markers.analyze_3Dmarkers ... Kinematic analysis of videobasedrecordings of 3D markers
 markers.find_trajectory ... Calculation of jointmovements 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 Fickmatrix, 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 ... GramSchmidt 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
scikitkinematics
=================
*scikitkinematics* primarily contains functions for working with 3D
kinematics, e.g quaternions and rotation matrices.
This includes utilities to read in data from the following IMUsensors:
 XSens
 xio
 YEI
Compatible with 3 only (Python 2 is no longer tested).
Dependencies

numpy, scipy, matplotlib, pandas, sympy, easygui
Homepage

http://work.thaslwanter.at/skinematics/html/
Author: Thomas Haslwanter
Date: 18122017
Ver: 0.6.5
Licence: BSD 2Clause License (http://opensource.org/licenses/BSD2Clause)
Copyright (c) 2017, Thomas Haslwanter
All rights reserved.
Installation

You can install scikitkinematics with
pip install scikitkinematics
and upgrade to a new version with
pip install scikitkinematics U
IMUs
====
Analysis of signals from IMUs (intertialmeasurementunits).
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
* yei
* polulu
 calc_position
MARG Systems

 imus.analytical ... Calculate orientation and position, from angular velocity and linear acceleration
 imus.kalman ... Calculate orientation from IMUdata 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 IMUobject
 imus.Madgwick ... Class for calculating the 3D orientation with the Madgwickalgorithm
 imus.Mahony ... Class for calculating the 3D orientation with the Mahonyalgorithm
Markers
=======
Analysis of signals from videobased markerrecordings of 3D movements
 markers.analyze_3Dmarkers ... Kinematic analysis of videobasedrecordings of 3D markers
 markers.find_trajectory ... Calculation of jointmovements 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 Fickmatrix, 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 ... GramSchmidt 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
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