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"author": "Thomas Haslwanter",
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"description": "---\ntitle: 'scikit-kinematics'\n---\n\n*scikit-kinematics* primarily contains functions for working with 3D\nkinematics, e.g quaternions and rotation matrices. This includes\nutilities to read in data from the following IMU-sensors: - polulu -\nXSens - xio - xio-NGIMU - YEI\n\nCompatible with Python >= 3.5\n\nDependencies\n============\n\nnumpy, scipy, matplotlib, pandas, sympy, easygui\n\nHomepage\n========\n\n\n\nAuthor: Thomas Haslwanter Date: 04-10-2019 Ver: 0.8.3 Licence: BSD\n2-Clause License ()\nCopyright (c) 2019, Thomas Haslwanter All rights reserved.\n\nInstallation\n============\n\nYou can install scikit-kinematics with\n\n> pip install scikit-kinematics\n\nand upgrade to a new version with\n\n> pip install --upgrade --no-deps scikit-kinematics\n\nIMUs\n----\n\nAnalysis of signals from IMUs (intertial-measurement-units). Read in\ndata, calculate orientation (with one of the algorithms below)\n\n- get\\_data ... This method must be taken from one of the existing\n sensors, or from your own sensor. Currenlty the following sensors\n types are available:\n - XSens\n - xio (original, and NGIMU)\n - yei\n\n \\* polulu\n- calc\\_position\n\nMARG Systems\n============\n\n- imus.analytical ... Calculate orientation and position, from angular\n velocity and linear acceleration\n- imus.kalman ... Calculate orientation from IMU-data using an\n Extended Kalman Filter.\n- \n\n imus.IMU ... Class for working with data from IMUs\n\n : - imus.IMU.calc\\_position ... calculate position\n - imus.IMU.setData ... set the properties of an IMU-object\n - imus.IMU.set\\_qtype ... sets q\\_type, and automatically\n performs the relevant calculations.\n\n- imus.Madgwick ... Class for calculating the 3D orientation with the\n Madgwick-algorithm\n- imus.Mahony ... Class for calculating the 3D orientation with the\n Mahony-algorithm\n\nMarkers\n-------\n\nAnalysis of signals from video-based marker-recordings of 3D movements\n\n- markers.analyze\\_3Dmarkers ... Kinematic analysis of\n video-basedrecordings of 3D markers\n- markers.find\\_trajectory ... Calculation of joint-movements from 3D\n marker positions\n\nQuaternions\n-----------\n\nNote that all these functions work with single quaternions and\nquaternion vectors, as well as with arrays containing these.\n\nQuaternion class\n================\n\n- \n\n quat.Quaternion ... class, including overloading for multiplication and\n\n : division (e.g. \"quatCombined = quat1 \\* quat2\"), import and\n export\n\nFunctions for working with quaternions\n======================================\n\n- quat.q\\_conj ... Conjugate quaternion\n- quat.q\\_inv ... Quaternion inversion\n- quat.q\\_mult ... Quaternion multiplication\n- quat.q\\_scalar ... Extract the scalar part from a quaternion\n- quat.q\\_vector ... Extract the vector part from a quaternion\n- quat.unit\\_q ... Extend a quaternion vector to a unit quaternion.\n\nConversion routines - quaternions\n=================================\n\n- quat.calc\\_angvel ... Calculates the velocity in space from\n quaternions\n- quat.calc\\_quat ... Calculate orientation from a starting\n orientation and angular velocity.\n- quat.convert ... Convert quaternion to corresponding rotation matrix\n or Gibbs vector\n- quat.deg2quat ... Convert number or axis angles to quaternion\n vectors\n- quat.quat2seq ... Convert quaternions to sequention rotations\n (\"nautical\" angles, etc)\n- quat.scale2deg ... Convert quaternion to corresponding axis angle\n\nRotation Matrices\n-----------------\n\nDefinition of rotation matrices\n===============================\n\n- rotmat.R ... 3D rotation matrix for rotation about a coordinate axis\n\nConversion Routines - rotation matrices\n=======================================\n\n- rotmat.convert ... Convert a rotation matrix to the corresponding\n quaternion\n- rotmat.seq2quat ... Convert nautical angles etc. to quaternions\n- rotmat.sequence ... Calculation of Euler, Fick, Helmholtz, ...\n angles\n\nSymbolic matrices\n=================\n\n- rotmat.R\\_s() ... symbolix matrix for rotation about a coordinate\n axis\n\nFor example, you can e.g. generate a Fick-matrix, with\n\n>>> R\\_Fick = R\\_s(2, 'theta') \\* R\\_s(1, 'phi') \\* R\\_s(0,\n'psi')\n\nSpatial Transformation Matrices\n===============================\n\n- rotmat.stm ... spatial transformation matrix, for combined\n rotations/translations\n- rotmat.stm\\_s() ... symbolix spatial transformation matrix\n\nDenavit-Hartenberg Transformations\n==================================\n\n- rotmat.dh ... Denavit-Hartenberg transformation matrix\n- rotmat.dh\\_s ... symbolic Denavit-Hartenberg transformation matrix\n\nVectors\n-------\n\nRoutines for working with vectors These routines can be used with\nvectors, as well as with matrices containing a vector in each row.\n\n- vector.normalize ... Vector normalization\n- vector.project ... Projection of one vector onto another one\n- vector.GramSchmidt ... Gram-Schmidt orthogonalization of three\n points\n- vector.q\\_shortest\\_rotation ... Quaternion indicating the shortest\n rotation from one vector into another.\n- vector.rotate\\_vector ... Rotation of a vector\n- vector.target2orient ... Convert target location into orientation\n angles\n\nInteractive Data Analysis\n-------------------------\n\n- viewer.ts ... interactive viewer for time series data\n- view.orientation ... visualize and animate orientations, expressed\n as quaternions.\n",
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