rigid-body-motion

Python utilities for estimating and transforming rigid body motion.

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

Overview

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

• Installation

User guide

• Reference frames
• Linear and angular velocity
• Estimating transforms from data
• Working with xarray
• ROS integration

Help & reference

• API Reference
• Development roadmap
• Contributing
• Credits
• History

Indices and tables

• Index

• Module Index

• Search Page