ikpy.utils.geometry
module¶
This module contains helper functions used to compute 3D geometric transformations.
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ikpy.utils.geometry.
symbolic_rz_matrix
(symbolic_theta)[source]¶ Matrice symbolique de rotation autour de l’axe Z
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ikpy.utils.geometry.
rotation_matrix
(phi, theta, psi)[source]¶ Return a rotation matrix using the given Euler angles
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ikpy.utils.geometry.
symbolic_rotation_matrix
(phi, theta, symbolic_psi)[source]¶ Retourne une matrice de rotation où psi est symbolique
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ikpy.utils.geometry.
rpy_matrix
(roll, pitch, yaw)[source]¶ Return a rotation matrix described by the extrinsinc roll, pitch, yaw coordinates
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ikpy.utils.geometry.
axis_rotation_matrix
(axis, theta)[source]¶ Returns a rotation matrix around the given axis
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ikpy.utils.geometry.
symbolic_axis_rotation_matrix
(axis, symbolic_theta)[source]¶ Returns a rotation matrix around the given axis
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ikpy.utils.geometry.
get_translation_matrix
(mu)[source]¶ Returns a translation matrix of the given mu
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ikpy.utils.geometry.
get_symbolic_translation_matrix
(mu)[source]¶ Returns a translation matrix of the given mu
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ikpy.utils.geometry.
homogeneous_translation_matrix
(trans_x, trans_y, trans_z)[source]¶ Return a translation matrix the homogeneous space
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ikpy.utils.geometry.
from_transformation_matrix
(transformation_matrix)[source]¶ Convert a transformation matrix to a tuple (translation_vector, rotation_matrix)
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ikpy.utils.geometry.
to_transformation_matrix
(translation, orientation_matrix=<MagicMock name='mock()' id='139836115652176'>)[source]¶ Convert a tuple (translation_vector, orientation_matrix) to a transformation matrix
Parameters: - translation (numpy.array) – The translation of your frame presented as a 3D vector.
- orientation_matrix (numpy.array) – Optional : The orientation of your frame, presented as a 3x3 matrix.
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ikpy.utils.geometry.
cartesian_to_homogeneous
(cartesian_matrix, matrix_type='numpy')[source]¶ Converts a cartesian matrix to an homogeneous matrix
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ikpy.utils.geometry.
cartesian_to_homogeneous_vectors
(cartesian_vector, matrix_type='numpy')[source]¶ Converts a cartesian vector to an homogeneous vector