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OpTaS
1.0.7
An optimization-based task specification library for trajectory optimization and model predictive control.
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OpTaS
1.0.7
An optimization-based task specification library for trajectory optimization and model predictive control.
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Classes | |
| class | optas.spatialmath.Quaternion |
| Quaternion class. More... | |
Namespaces | |
| optas.spatialmath | |
| This is a partial port to Python/CasADi, with some modifications and additions, of the Spatial Math Toolbox for MATLAB. | |
Functions | |
| Callable | optas.spatialmath.arrayify_args (Callable fun) |
| Decorator that ensures all input arguments are casadi arrays (i.e. More... | |
| cs.DM | optas.spatialmath.I3 () |
| 3-by-3 identity matrix. More... | |
| cs.DM | optas.spatialmath.I4 () |
| 4-by-4 identity matrix. More... | |
| CasADiArrayType | optas.spatialmath.angvec2r (ArrayType theta, ArrayType v) |
| Convert angle and vector orientation to a rotation matrix. More... | |
| CasADiArrayType | optas.spatialmath.r2t (ArrayType R) |
| Convert rotation matrix to a homogeneous transform. More... | |
| CasADiArrayType | optas.spatialmath.rotx (ArrayType theta) |
| SO(3) rotation about X axis. More... | |
| CasADiArrayType | optas.spatialmath.roty (ArrayType theta) |
| SO(3) rotation about Y axis. More... | |
| CasADiArrayType | optas.spatialmath.rotz (ArrayType theta) |
| SO(3) rotation about Z axis. More... | |
| CasADiArrayType | optas.spatialmath.rpy2r (ArrayType rpy, str opt="zyx") |
| Roll-pitch-yaw angles to SO(3) rotation matrix. More... | |
| CasADiArrayType | optas.spatialmath.rt2tr (ArrayType R, ArrayType t) |
| Convert rotation and translation to homogeneous transform. More... | |
| CasADiArrayType | optas.spatialmath.skew (ArrayType v) |
| Create skew-symmetric matrix. More... | |
| CasADiArrayType | optas.spatialmath.t2r (ArrayType T) |
| Rotational submatrix. More... | |
| CasADiArrayType | optas.spatialmath.invt (ArrayType T) |
| Inverse of a homogeneous transformation matrix. More... | |
| CasADiArrayType | optas.spatialmath.transl (ArrayType T) |
| SE(3) translational homogeneous transform. More... | |
| CasADiArrayType | optas.spatialmath.unit (ArrayType v) |
| Unitize a vector. More... | |
Variables | |
| optas.spatialmath.ArrayType = Union[cs.DM, cs.SX, List[float], Tuple[float], cs.np.ndarray, float, int] | |
| Accepted array types. More... | |
| optas.spatialmath.CasADiArrayType = Union[cs.DM, cs.SX] | |
| CasADi array types typically returned by OpTaS methods. More... | |
| optas.spatialmath.pi = cs.np.pi | |
| The number pi (i.e. More... | |
| optas.spatialmath.eps = cs.np.finfo(float).eps | |
| The machine epsilon. More... | |
1.9.1