rigid-body-motion

Python utilities for estimating and transforming rigid body motion.

Documentation: https://rigid-body-motion.readthedocs.io

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.

Installation

rigid-body-motion can be installed via pip:

$ pip install rigid-body-motion

or via conda:

$ conda install -c phausamann -c conda-forge rigid-body-motion

Highlights

rigid-body-motion makes it possible to:

• Construct trees of static and moving reference frames
• Lookup transforms and velocities across the tree
• Seamlessly transform positions, orientations and velocities across the tree
• Estimate transforms from motion data
• Transform data into different coordinate representations
• Import data from common motion tracking systems
• Visualize reference frames and motion data with matplotlib or RViz
• ... and more!

Credits

This package was created with Cookiecutter and the audreyr/cookiecutter-pypackage project template.