Create, manipulate and convert representations of position and orientation in 2D or 3D using Python
This Toolbox contains functions and classes to represent orientation and pose in 2D and 3D (SO(2), SE(2), SO(3), SE(3)) as orthogonal and homogeneous transformation matrices, unit quaternions, twists, triple angles, and matrix exponentials. The Toolbox also provides functions for manipulating these datatypes, converting between them, composing them, graphically displaying them, and transforming points and velocities.
Much of this Toolbox functionality was previously in the Robotics Toolbox for MATLAB.
Advantages of the Toolbox are that:
There is now a Python version of this Toolbox on GitHub and PyPI.
Comprehensive detail of all functions is provided in the PDF-format manual (~200 pages).
From the MATLAB toolstrip Home>Add-Ons>Get Add-Ons will bring up the Add-On Explorer. Enter "spatial math" into the search box, select the first entry and then click "Add from GitHub". The Toolbox will be downloaded and added to your path.
>> R = rotx(0.2) % SO(3) rotation matrix
R =
1.0000 0 0
0 0.9801 -0.1987
0 0.1987 0.9801
which we could animate simply as
>> tranimate(R)
Convert roll-pitch-yaw angles to a unit quaternion
>> R = rpy2r(10, 20, 30, 'deg')
R =
0.8138 -0.4410 0.3785
0.4698 0.8826 0.0180
-0.3420 0.1632 0.9254
which uses the ZYX convention by default, ie. this is a rotation by the yaw angle (30 deg) about the Z-axis, followed by a rotation by the pitch angle (20 deg) about the Y-axis, followed by a rotation by the roll angle (10 deg) about the X-axis. We can convert this to a unit quaternion
>> q = UnitQuaternion(R)
q =
0.95155 < 0.038135, 0.18931, 0.2393 >
or create the unit quaternion directly using a variant constructor
>> q2 = UnitQuaternion.rpy(10, 20, 30, 'deg')
q2 =
0.95155 < 0.038135, 0.18931, 0.2393 >
prod()
method for all RTBPose
subclasses and Twist
Please email bug reports, comments or code contribtions to me at [email protected]
The functions, but not the classes, should work fine with Octave 5.x.
Contributions welcome. There's a user forum at http://tiny.cc/rvcforum for this Toolbox and also Robotics Toolbox for MATLAB.
This toolbox is released under MIT Licence.