Python utilities for estimating and transforming rigid body motion.

Hosted on GitHub: https://github.com/phausamann/rigid-body-motion


This package provides a high-level interface for transforming arrays describing motion of rigid bodies between different coordinate systems and reference frames. The core of the reference frame handling is a fast re-implementation of ROS’s tf2 library using numpy and numpy-quaternion. The package also provides first-class support for xarray data types.

Getting started

Indices and tables