ikpy.utils.geometry module

This module contains helper functions used to compute 3D geometric transformations.

ikpy.utils.geometry.rx_matrix(theta)

Rotation matrix around the X axis

ikpy.utils.geometry.rz_matrix(theta)

Rotation matrix around the Z axis

ikpy.utils.geometry.symbolic_rz_matrix(symbolic_theta)

Matrice symbolique de rotation autour de l’axe Z

ikpy.utils.geometry.ry_matrix(theta)

Rotation matrix around the Y axis

ikpy.utils.geometry.rotation_matrix(phi, theta, psi)

Return a rotation matrix using the given Euler angles

ikpy.utils.geometry.symbolic_rotation_matrix(phi, theta, symbolic_psi)

Retourne une matrice de rotation où psi est symbolique

ikpy.utils.geometry.rpy_matrix(roll, pitch, yaw)

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

ikpy.utils.geometry.axis_rotation_matrix(axis, theta)

Returns a rotation matrix around the given axis

ikpy.utils.geometry.symbolic_axis_rotation_matrix(axis, symbolic_theta)

Returns a rotation matrix around the given axis

ikpy.utils.geometry.get_translation_matrix(mu)

Returns a translation matrix of the given mu

ikpy.utils.geometry.get_symbolic_translation_matrix(mu)

Returns a translation matrix of the given mu

ikpy.utils.geometry.homogeneous_translation_matrix(trans_x, trans_y, trans_z)

Return a translation matrix the homogeneous space

ikpy.utils.geometry.from_transformation_matrix(transformation_matrix)

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

ikpy.utils.geometry.to_transformation_matrix(translation, orientation_matrix=<MagicMock name='mock()' id='140353834369680'>)

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.

ikpy.utils.geometry.cartesian_to_homogeneous(cartesian_matrix, matrix_type='numpy')

Converts a cartesian matrix to an homogeneous matrix

ikpy.utils.geometry.cartesian_to_homogeneous_vectors(cartesian_vector, matrix_type='numpy')

Converts a cartesian vector to an homogeneous vector

ikpy.utils.geometry.homogeneous_to_cartesian_vectors(homogeneous_vector)

Convert an homogeneous vector to cartesian vector

ikpy.utils.geometry.homogeneous_to_cartesian(homogeneous_matrix)

Convert an homogeneous matrix to cartesian matrix