spatial.py File Reference

Classes
class	spatial_casadi.spatial.Rotation
class	spatial_casadi.spatial.Translation
	A class defining a translation vector. More...
class	spatial_casadi.spatial.Transformation
	A class for representing homogenous transformations. More...

Namespaces
	spatial_casadi.spatial

Functions
bool	spatial_casadi.spatial._iszero (Array a)
CasadiArray	spatial_casadi.spatial._cross3 (Array a, Array b)
CasadiArray	spatial_casadi.spatial._make_elementary_quat (str axis, Array angles)
CasadiArray	spatial_casadi.spatial._dot3 (Array a, Array b)
CasadiArray	spatial_casadi.spatial._norm3 (Array elems)
CasadiArray	spatial_casadi.spatial._normalize4 (Array elems)
def	spatial_casadi.spatial._argmax4 (a)
CasadiArray	spatial_casadi.spatial._quat_canonical_single (Array q)
CasadiArray	spatial_casadi.spatial._quat_canonical (Array q)
def	spatial_casadi.spatial._get_angles (angles, extrinsic, symmetric, sign, lamb, a, b, c, d)
def	spatial_casadi.spatial._compose_quat (p, q)
def	spatial_casadi.spatial._elementary_quat_compose (seq, angles, intrinsic)
def	spatial_casadi.spatial._single_matrix_to_quat (matrix)

Variables
	spatial_casadi.spatial.eps = np.finfo(float).eps
	spatial_casadi.spatial.CasadiArray = cs.MX | cs.SX | cs.DM
	spatial_casadi.spatial.NonSymbolicCasadiArray = cs.DM
	spatial_casadi.spatial.Array = cs.MX | cs.SX | cs.DM | np.ndarray
	spatial_casadi.spatial.NonSymbolicArray = cs.DM | np.ndarray
	spatial_casadi.spatial._ex = cs.DM([1.0, 0.0, 0.0])
	spatial_casadi.spatial._ey = cs.DM([0.0, 1.0, 0.0])
	spatial_casadi.spatial._ez = cs.DM([0.0, 0.0, 1.0])
dictionary	spatial_casadi.spatial._elementary_basis_vector = {"x": _ex, "y": _ey, "z": _ez}