ikpy.geometry_utils module

ikpy.geometry_utils.Rx_matrix(theta)

Rotation matrix around the X axis

ikpy.geometry_utils.Rz_matrix(theta)

Rotation matrix around the Z axis

ikpy.geometry_utils.symbolic_Rz_matrix(symbolic_theta)

Matrice symbolique de rotation autour de l’axe Z

ikpy.geometry_utils.Ry_matrix(theta)

Rotation matrix around the Y axis

ikpy.geometry_utils.rotation_matrix(phi, theta, psi)

Retourne la matrice de rotation décrite par les angles d’Euler donnés en paramètres

ikpy.geometry_utils.symbolic_rotation_matrix(phi, theta, symbolic_psi)

Retourne une matrice de rotation où psi est symbolique

ikpy.geometry_utils.rpy_matrix(roll, pitch, yaw)

Returns a rotation matrix described by the extrinsinc roll, pitch, yaw coordinates

ikpy.geometry_utils.axis_rotation_matrix(axis, theta)

Returns a rotation matrix around the given axis

ikpy.geometry_utils.symbolic_axis_rotation_matrix(axis, symbolic_theta)

Returns a rotation matrix around the given axis

ikpy.geometry_utils.homogeneous_translation_matrix(trans_x, trans_y, trans_z)

Returns a translation matrix the homogeneous space

ikpy.geometry_utils.from_transformation_matrix(transformation_matrix)

Converts a transformation matrix to a tuple (rotation_matrix, translation_vector)

ikpy.geometry_utils.to_transformation_matrix(rotation_matrix, translation)

Converts a tuple (rotation_matrix, translation_vector) to a transformation matrix

ikpy.geometry_utils.cartesian_to_homogeneous(cartesian_matrix, matrix_type='numpy')

Converts a cartesian matrix to an homogenous matrix

ikpy.geometry_utils.cartesian_to_homogeneous_vectors(cartesian_vector, matrix_type='numpy')

Converts a cartesian vector to an homogenous vector

ikpy.geometry_utils.homogeneous_to_cartesian_vectors(homogeneous_vector)

Converts a cartesian vector to an homogenous vector

ikpy.geometry_utils.homogeneous_to_cartesian(homogeneous_matrix)

Converts a cartesian vector to an homogenous matrix