spatial_casadi.spatial.Rotation Class Reference

Public Member Functions
def	__init__ (self, quat, normalize=True, scalar_first=False)
def	__getstate__ (self)
def	__setstate__ (self, state)
def	single (self)
def	__bool__ (self)
def	__len__ (self)
def	from_quat (cls, quat, *scalar_first=False)
def	from_matrix (cls, matrix)
def	from_rotvec (cls, rotvec, degrees=False)
def	__mul__ (self, other)
	Compose this rotation with the other. More...
def	inv (self)
	Invert this rotation. More...
def	magnitude (self)
	Get the magnitude of the rotation. More...
def	as_quat (self, str seq="xyzw")
	Represent as quaternions. More...
def	as_matrix (self)
	Represent as rotation matrix. More...
def	as_rotvec (self, bool degrees=False)
	Represent as rotation vector. More...
def	as_mrp (self)
	Represent as Modified Rodrigues Parameters (MRPs). More...
def	as_euler (self, str seq, bool degrees=False)
	Represent as Euler angles. More...
def	rotation_angle (self, other)
def	x (self)
def	y (self)
def	z (self)
def	w (self)

Static Public Member Functions
def	identity ()
	Get the identity rotation. More...
def	random ()
	Generate uniformly distributed rotations. More...
def	symbolic ()
	Symbolic representation. More...
def	from_matrix (matrix)
	Initialize from rotation matrix. More...
def	from_mrp (mrp)
	Initialize from Modified Rodrigues Parameters (MRPs). More...
def	from_euler (seq, angles, degrees=False)
	Initialize from Euler angles. More...

Private Attributes
	_single
	_quat

Constructor & Destructor Documentation

__init__()

def spatial_casadi.spatial.Rotation.__init__	(		self,
			quat,
			normalize = True,
			scalar_first = False
	)

Member Function Documentation

__bool__()

def spatial_casadi.spatial.Rotation.__bool__

(

self

)

Comply with Python convention for objects to be True.

Required because Rotation.__len__() is defined and not always truthy.

__getstate__()

def spatial_casadi.spatial.Rotation.__getstate__

(

self

)

__len__()

def spatial_casadi.spatial.Rotation.__len__

(

self

)

__mul__()

def spatial_casadi.spatial.Rotation.__mul__	(		self,
			other
	)

Compose this rotation with the other.

   @param other Object containing the rotation or translation to be composed with this one. Note that compositions are not commutative, so p * q is different from q * p. In the case of translations q * p is undefined.
   @return The product A * B, if other is a rotation the output will be a rotation. However, if other is a translation then the output will also be a translation.

__setstate__()

def spatial_casadi.spatial.Rotation.__setstate__	(		self,
			state
	)

as_euler()

def spatial_casadi.spatial.Rotation.as_euler	(		self,
		str	seq,
		bool	degrees = False
	)

Represent as Euler angles.

   @param seq Specifies sequence of axes for rotations. Up to 3 characters belonging to the set {‘X’, ‘Y’, ‘Z’} for intrinsic rotations, or {‘x’, ‘y’, ‘z’} for extrinsic rotations. Extrinsic and intrinsic rotations cannot be mixed in one function call.
   @param degrees Returned angles are in degrees if this flag is True, else they are in radians. Default is False.
   @return Euler angles specified in radians (degrees is False) or degrees (degrees is True).

as_matrix()

def spatial_casadi.spatial.Rotation.as_matrix

(

self

)

Represent as rotation matrix.

   @return A 3-by-3 rotation matrix.

as_mrp()

def spatial_casadi.spatial.Rotation.as_mrp

(

self

)

Represent as Modified Rodrigues Parameters (MRPs).

   @return A vector giving the MRP, a 3 dimensional vector co-directional to the axis of rotation and whose magnitude is equal to tan(theta / 4), where theta is the angle of rotation (in radians).

as_quat()

def spatial_casadi.spatial.Rotation.as_quat	(		self,
		str	seq = "xyzw"
	)

Represent as quaternions.

   @param seq Specifies the ordering of the quaternion. Available options are 'wxyz' (i.e. scalar-first) and 'xyzw' (i.e. scalar-last). The default is the scalar-last format given by 'xyzw'.
   @return A quaternion vector.

as_rotvec()

def spatial_casadi.spatial.Rotation.as_rotvec	(		self,
		bool	degrees = False
	)

Represent as rotation vector.

   @param degrees If True, then the given magnitudes are assumed to be in degrees. Default is False.
   @return A 3-dimensional rotation vector

from_euler()

def spatial_casadi.spatial.Rotation.from_euler (   seq,   angles,   degrees = False  )

static

Initialize from Euler angles.

   @param seq Specifies sequence of axes for rotations. Up to 3 characters belonging to the set {‘X’, ‘Y’, ‘Z’} for intrinsic rotations, or {‘x’, ‘y’, ‘z’} for extrinsic rotations. Extrinsic and intrinsic rotations cannot be mixed in one function call.
   @param angles Euler angles specified in radians (degrees is False) or degrees (degrees is True). For a single character seq, angles can be:
                       - a single value.
                       - array_like with shape (N,), where each angle[i] corresponds to a single rotation.
   @param degrees If True, then the given angles are assumed to be in degrees. Default is False.
   @return Object containing the rotation represented by the rotation around given axes with given angles.

from_matrix() [1/2]

def spatial_casadi.spatial.Rotation.from_matrix	(		cls,
			matrix
	)

from_matrix() [2/2]

def spatial_casadi.spatial.Rotation.from_matrix (   matrix )

static

Initialize from rotation matrix.

   @param matrix A 3-by-3 rotation matrix or 4-by-4 homogeneous transformation matrix.
   @return Object containing the rotation represented by the rotation matrix.

from_mrp()

def spatial_casadi.spatial.Rotation.from_mrp (   mrp )

static

Initialize from Modified Rodrigues Parameters (MRPs).

   @param mrp A vector giving the MRP, a 3 dimensional vector co-directional to the axis of rotation and whose magnitude is equal to tan(theta / 4), where theta is the angle of rotation (in radians).

from_quat()

def spatial_casadi.spatial.Rotation.from_quat	(		cls,
			quat,
		*	scalar_first = False
	)

Initialize from quaternion.

from_rotvec()

def spatial_casadi.spatial.Rotation.from_rotvec	(		cls,
			rotvec,
			degrees = False
	)

identity()

def spatial_casadi.spatial.Rotation.identity ( )

static

Get the identity rotation.

inv()

def spatial_casadi.spatial.Rotation.inv

(

self

)

Invert this rotation.

magnitude()

def spatial_casadi.spatial.Rotation.magnitude

(

self

)

Get the magnitude of the rotation.

random()

def spatial_casadi.spatial.Rotation.random ( )

static

Generate uniformly distributed rotations.

   @return Random rotation.

rotation_angle()

def spatial_casadi.spatial.Rotation.rotation_angle	(		self,
			other
	)

Angle between two rotations.

single()

def spatial_casadi.spatial.Rotation.single

(

self

)

symbolic()

def spatial_casadi.spatial.Rotation.symbolic ( )

static

Symbolic representation.

   @return Symbolic rotation.

w()

def spatial_casadi.spatial.Rotation.w

(

self

)

x()

def spatial_casadi.spatial.Rotation.x

(

self

)

y()

def spatial_casadi.spatial.Rotation.y

(

self

)

z()

def spatial_casadi.spatial.Rotation.z

(

self

)

Member Data Documentation

_quat

spatial_casadi.spatial.Rotation._quat

private

_single

spatial_casadi.spatial.Rotation._single

private

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The documentation for this class was generated from the following file:

• spatial.py