API Reference

Top-level functions

Module: rigid_body_motion

Transformations

transform_vectors	Transform an array of vectors between reference frames.
transform_points	Transform an array of points between reference frames.
transform_quaternions	Transform an array of quaternions between reference frames.
transform_coordinates	Transform motion between coordinate systems.
transform_angular_velocity	Transform an array of angular velocities between frames.
transform_linear_velocity	Transform an array of linear velocities between frames.

Reference Frames

ReferenceFrame	A three-dimensional reference frame.
register_frame	Register a new reference frame in the registry.
deregister_frame	Remove a reference frame from the registry.
clear_registry	Clear the reference frame registry.
render_tree	Render a reference frame tree.

Coordinate Systems

cartesian_to_polar	Transform cartesian to polar coordinates in two dimensions.
polar_to_cartesian	Transform polar to cartesian coordinates in two dimensions.
cartesian_to_spherical	Transform cartesian to spherical coordinates in three dimensions.
spherical_to_cartesian	Transform spherical to cartesian coordinates in three dimensions.

Lookups

lookup_transform	Look up transformation from one frame to another.
lookup_pose	Look up pose of one frame wrt a reference.
lookup_twist	Estimate linear and angular velocity of a frame wrt a reference.
lookup_linear_velocity	Estimate linear velocity of a frame wrt a reference.
lookup_angular_velocity	Estimate angular velocity of a frame wrt a reference.

Estimators

estimate_linear_velocity	Estimate linear velocity from a time series of translation.
estimate_angular_velocity	Estimate angular velocity from a time series of rotations.
shortest_arc_rotation	Estimate the shortest-arc rotation between two arrays of vectors.
best_fit_rotation	Least-squares best-fit rotation between two arrays of vectors.
best_fit_transform	Least-squares best-fit transform between two arrays of vectors.
iterative_closest_point	Iterative closest point algorithm matching two arrays of vectors.

Utility functions

from_euler_angles	Construct quaternions from Euler angles.
qinv	Quaternion inverse.
qmul	Quaternion multiplication.
qmean	Quaternion mean.
qinterp	Quaternion interpolation.
rotate_vectors	Rotate an array of vectors by an array of quaternions.

I/O functions

Module: rigid_body_motion.io

load_optitrack

Load rigid body poses from OptiTrack csv export.

Plotting

Module: rigid_body_motion.plot

reference_frame	Plot a 3D coordinate system representing a static reference frame.
points	Plot an array of 3D points.
quaternions	Plot an array of quaternions.
vectors	Plot an array of 3D vectors.

ROS interface

Module: rigid_body_motion.ros

RosbagReader	Reader for motion topics from rosbag files.
RosbagWriter	Writer for motion topics to rosbag files.
ReferenceFrameTransformBroadcaster	TF broadcaster for the transform of a reference frame wrt another.
ReferenceFrameMarkerPublisher	Publisher for the translation of a reference frame wrt another.
Transformer	Wrapper class for tf2_ros.Buffer.

init_node	Register a client node with the master.
play_publisher	Interactive widget for playing back messages from a publisher.

xarray Accessors

DataArray.rbm.qinterp	Quaternion interpolation.
DataArray.rbm.qinv	Quaternion inverse.

Class member details

• reference_frames