pybotics.geometry module

Geometry functions and utilities.

class pybotics.geometry.OrientationConvention

Bases: enum.Enum

Orientation of a body with respect to a fixed coordinate system.

EULER_XYX = 'xyx'

EULER_XYZ = 'xyz'

EULER_XZX = 'xzx'

EULER_XZY = 'xzy'

EULER_YXY = 'yxy'

EULER_YXZ = 'yxz'

EULER_YZX = 'yzx'

EULER_YZY = 'yzy'

EULER_ZXY = 'zxy'

EULER_ZXZ = 'zxz'

EULER_ZYX = 'zyx'

EULER_ZYZ = 'zyz'

FIXED_XYX = 'xyx'

FIXED_XYZ = 'zyx'

FIXED_XZX = 'xzx'

FIXED_XZY = 'yzx'

FIXED_YXY = 'yxy'

FIXED_YXZ = 'zxy'

FIXED_YZX = 'xzy'

FIXED_YZY = 'yzy'

FIXED_ZXY = 'yxz'

FIXED_ZXZ = 'zxz'

FIXED_ZYX = 'xyz'

FIXED_ZYZ = 'zyz'

pybotics.geometry.matrix_2_vector(matrix: numpy.ndarray[Any, numpy.dtype[numpy.float64]], convention: pybotics.geometry.OrientationConvention = <OrientationConvention.EULER_ZYX: 'zyx'>) → numpy.ndarray[Any, numpy.dtype[numpy.float64]]

Convert 4x4 matrix to a vector.

pybotics.geometry.position_from_matrix(matrix: numpy.ndarray[Any, numpy.dtype[numpy.float64]]) → numpy.ndarray[Any, numpy.dtype[numpy.float64]]

Get the position values from a 4x4 transform matrix.

pybotics.geometry.rotation_matrix_x(angle: float) → numpy.ndarray[Any, numpy.dtype[numpy.float64]]

Generate a basic 4x4 rotation matrix about the X axis.

pybotics.geometry.rotation_matrix_y(angle: float) → numpy.ndarray[Any, numpy.dtype[numpy.float64]]

Generate a basic 4x4 rotation matrix about the Y axis.

pybotics.geometry.rotation_matrix_z(angle: float) → numpy.ndarray[Any, numpy.dtype[numpy.float64]]

Generate a basic 4x4 rotation matrix about the Z axis.

pybotics.geometry.translation_matrix(xyz: numpy.ndarray[Any, numpy.dtype[numpy.float64]]) → numpy.ndarray[Any, numpy.dtype[numpy.float64]]

Generate a basic 4x4 translation matrix.

pybotics.geometry.vector_2_matrix(vector: numpy.ndarray[Any, numpy.dtype[numpy.float64]], convention: Union[pybotics.geometry.OrientationConvention, str] = <OrientationConvention.EULER_ZYX: 'zyx'>) → numpy.ndarray[Any, numpy.dtype[numpy.float64]]

Calculate the pose from the position and euler angles.

Parameters:

• convention –
• vector – transform vector

Returns:

4x4 transform matrix

pybotics.geometry.wrap_2_pi(angle: float) → float

Wrap given angle to +/- PI.

Parameters:angle – angle to wrap Returns:wrapped angle