robotics_toolbox.core.so3.SO3

class robotics_toolbox.core.so3.SO3(rotation_matrix=None)

Bases: object

This class represents an SO3 rotations internally represented by rotation matrix.

Parameters:: rotation_matrix (ArrayLike | None)

__init__(rotation_matrix=None)

Creates a rotation transformation from rot_vector.

Parameters:: rotation_matrix (_SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes] | None)
Return type:: None

Methods

`__init__`([rotation_matrix])	Creates a rotation transformation from rot_vector.
`act`(vector)	Rotate given vector by this transformation.
`exp`(rot_vector)	Compute SO3 transformation from a given rotation vector, i.e. exponential representation of the rotation.
`from_angle_axis`(angle, axis)	Compute rotation from angle axis representation.
`from_euler_angles`(angles, seq)	Compute rotation from euler angles defined by a given sequence.
`from_quaternion`(q)	Compute rotation from quaternion in a form [qx, qy, qz, qw].
`inverse`()	Return inverse of the transformation.
`log`()	Compute rotation vector from this SO3
`rx`(angle)	Return rotation matrix around x axis.
`ry`(angle)	Return rotation matrix around y axis.
`rz`(angle)	Return rotation matrix around z axis.
`to_angle_axis`()	Compute angle axis representation from self.
`to_quaternion`()	Compute quaternion from self.

act(vector)

Rotate given vector by this transformation.

Parameters:: vector (_SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes])
Return type:: ndarray

static exp(rot_vector)

Compute SO3 transformation from a given rotation vector, i.e. exponential representation of the rotation.

Parameters:: rot_vector (_SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes])
Return type:: SO3

static from_angle_axis(angle, axis)

Compute rotation from angle axis representation.

Parameters:

angle (float)
axis (_SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes])

Return type:

SO3

static from_euler_angles(angles, seq)

Compute rotation from euler angles defined by a given sequence. angles: is a three-dimensional array of angles seq: is a list of axis around which angles rotate, e.g. ‘xyz’, ‘xzx’, etc.

Parameters:

angles (_SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes])
seq (list[str])

Return type:

SO3

static from_quaternion(q)

Compute rotation from quaternion in a form [qx, qy, qz, qw].

Parameters:: q (_SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes])
Return type:: SO3

inverse()

Return inverse of the transformation.

Return type:: SO3

log()

Compute rotation vector from this SO3

Return type:: ndarray

static rx(angle)

Return rotation matrix around x axis.

Parameters:: angle (float)
Return type:: SO3

static ry(angle)

Return rotation matrix around y axis.

Parameters:: angle (float)
Return type:: SO3

static rz(angle)

Return rotation matrix around z axis.

Parameters:: angle (float)
Return type:: SO3

to_angle_axis()

Compute angle axis representation from self.

Return type:: tuple[float, ndarray]

to_quaternion()

Compute quaternion from self.

Return type:: ndarray