Module transformations
Source - EulerSeq
- Euler sequences conventions of rotations
- adjoint
- Compute the adjoint representation of a homogeneous transformation matrix
- axis_angle
- Convert a 3d vector of exponential coordinates for rotation into axis-angle
form
- axis_angle6
- Convert a 6D vector of exponential coordinates into screw axis angle
- distance_to_manifold
- Returns the Frobenius norm to describe the distance of the transformation from the SO(3)
manifold
- euler_to_rotation
- Compute the rotation matrix from euler angles with the following conventions:
XYX, XYZ, XZX, XZY, YXY, YXZ, YZX, YZY, ZXY, ZXZ
- get_parts
- Get the parts of a homogeneous transformation, the rotation(expresed by a Quaternion) and the
translation (expresed by a vector)
- get_parts_raw
- Get the parts of a homogeneous transformation, the rotation(expresed by a Matrix) and the
translation (expresed by a vector)
- homogeneous_from_quaternion
- Generate a homogeneous matrix from a rotation represented by a quaternion and a translation
represented by a vector
- homogeneous_from_rotation
- Generate a homogeneous matrix from a rotation represented by a Matrix and a translation
represented by a vector
- homogeneous_inverse
- Get the inverse of the homogeneous transformation
- homogeneous_inverse_transform
- Transform a vector with the inverse of a given homogeneous transformation
- ksi
- Create a pose in 2D from a angle(in radians) and a cartesian position (x, y) values
- matrix_exponential
- Compute the matrix exponential of a matrix in so(3)
- matrix_exponential6
- Computes the matrix logarithm of a homogeneous transformation matrix
- matrix_log
- Brief.
- matrix_log6
- Compute the matrix logarithm of a homogeneous transformation matrix
- rot2
- Compute rotation matrix from a angle in radians
- rotation_from_axis_angle
- Compute the matrix exponential for omega theta(exponential coordinates): so(3) —> SO(3)
with the Rodriguez formula
- rotation_inverse
- Inverse of a Rotation matrix, where R: SO(3)
- rotation_to_euler
- Get the euler angles from a rotation matrix comming from the convention ZYX
- rotx
- Compute the rotation around the
x axis(in cartesian coordinates) - roty
- Compute the rotation around the
y axis(in cartesian coordinates) - rotz
- Compute the rotation around the
z axis(in cartesian coordinates) - screw_to_axis
- Takes a parametric description of a screw axis and converts it to a normalized screw axis
- se3_from_parts
- se3_get_parts
- se3_to_twist
- Convert a se3 matrix representation to a spatial velocity vector known as “twist”
- skew_from_vec
- Convert a 3d Vector to a $so(3)$ representation
- skew_from_vec_aug
- Create augmented skew-symmetric matrix
- skew_scalar
- skew_to_vec
- Convert an so(3) representation to a 3d vector
- skew_v6
- Create augmented skew-symmetric matrix
- translation_2d
- Create a pure translation homogeneous transformation
- translation_3d
- Create a pure translation homogeneous transformation in 3d
- twist_to_se3
- Convert a spatial velocity vector to a M44 matrix in se3 space
- vex_m22