A library for Rigid Body Transformations
Project description
DeepMind Robotics Transformations
Transformations is a pure python library for rigid-body transformations including velocities and forces.
The objectives for this library are simplicity and comprehensiveness across all canonical representations (euler, axis-angle, quaternion, homogeneous matrices).
Supported conversions:
- Quaternion to Rotation matrix, Axis-angle and Euler-angle
- Axis-angle to Quaternion, Rotation matrix and Euler-angle
- Rotation matrix to Quaternion, Axis-angle and Euler-angle
- Euler-angle to Quaternion, Rotation matrix and Axis-angle
Quaternions:
Quaternions are represented with the scalar part (w) first, e.g.
identity_quaternion = np.asarray([1, 0, 0, 0]) # w, i, j, k
Supported quaternion operations:
- Difference
- Distance
- Multiplication
- Inverse
- Conjugate
- Logarithm and Exponent
- Slerp (spherical linear interpolation)
- Rotation of a vector by a quaternion.
Euler-angles
All 24 from-euler orderings are supported. 7 of 24 to-euler orderings are supported.
Transforms
This library supports force and velocity transforms.
Usage Example
from dm_robotics.transformations import transformations as tr
# Convert a pose, euler angle into a homogeneous matrix (a 4x4 matrix):
hmat = tr.poseuler_to_hmat(
np.array([x, y, z, rot_x, rot_y, rot_z]), 'XYZ')
# Convert the homogeneous matrix to a twist (a 6 vector):
twist = tr.hmat_to_twist(hmat)
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