This is a library for dealing with rigid body orientation math.
so3tools
Representation independent functions for manipulating SO3 quantities like rotation matrices, affine (homogeneous) matrices, quaternions, and rotation vectors (sometimes called Euler vectors). These functions can be used to abstract SO3 operations so that the user can think in terms of simple vector math. For example, "minus" can be used to find the difference between two orientations.
oritools
A simplified version of so3tools that is only designed to work with the quaternion representation. It is advisable to use oritools and to keep your orientation states as quaternions in practice. This is faster and cleaner.
demo_PDcontroller
Demo of using oritools in an attitude dynamics simulation and PD controller. The demo could use so3tools just as well, but to reinforce good practice, a quaternion representation and oritools are used.
transformations
The latest version of Christoph Gohlke's notorious transformations module. This version is newer than the one used in ROS tf. When using anything from this library, this transformations file will be imported, not the old one from tf. Current Version: 2015.07.18
(dependencies)
- numpy
- matplotlib (only for demo_PDcontroller)
(references)