Metadata-Version: 1.1
Name: scikit-kinematics
Version: 0.4.3
Summary: Python utilites for movements in 3d space
Home-page: http://work.thaslwanter.at/skinematics/html
Author: Thomas Haslwanter
Author-email: thomas.haslwanter@fh-linz.at
License: http://opensource.org/licenses/BSD-2-Clause
Download-URL: https://github.com/thomas-haslwanter/scikit-kinematics
Description: =================
        scikit-kinematics
        =================
        
        *scikit-kinematics* primarily contains functions for working with 3D
        kinematics, e.g quaternions and rotation matrices.
        This includes utilities to read in data from the following IMU-sensors:
            - XSens
            - xio
            - YEI
        
        Compatible with Python 2 and 3.
        
        
        Dependencies
        ------------
        numpy, scipy, matplotlib, pandas, sympy, easygui
        
        Homepage
        --------
        http://work.thaslwanter.at/skinematics/html/
        
        Author:  Thomas Haslwanter
        Date:    25-06-2017
        Ver:     0.4.3
        Licence: BSD 2-Clause License (http://opensource.org/licenses/BSD-2-Clause)
                Copyright (c) 2017, Thomas Haslwanter
                All rights reserved.
        
        Installation
        ------------
        You can install scikit-kinematics with
        
            pip install scikit-kinematics
        
        and upgrade to a new version with
        
            pip install scikit-kinematics -U
        
        IMUs
        ====
        
        Analysis of signals from IMUs (intertial-measurement-units).
        
        Data-Import
        -----------
        - imyus.import_data ... Read in Rate and stored 3D parameters from a variety of IMUs
        
        - sensors.xio ... Import data recorded with xio-systems
        - sensors.xsens ... Import data recorded with XSens-systems
        - sensors.yei ... Import data recorded with YEI-systems
        
        MARG Systems
        ------------
        - imus.calc_QPos ... Calculate orientation and position, from angular velocity and linear acceleration
        - imus.kalman_quat ... Calculate orientation from IMU-data using an Extended Kalman Filter.
        
        - imus.IMU ... Class for working with data from IMUs
            - imus.IMU.calc_orientation ... calculate orientation
            - imus.IMU.calc_position ... calculate position
            - imus.IMU.setData ... set the properties of an IMU-object
        - imus.MadgwickAHRS ... Class for calculating the 3D orientation with the Madgwick-algorithm
        - imus.MahonyAHRS ... Class for calculating the 3D orientation with the Mahony-algorithm
        
        Markers
        =======
        
        Analysis of signals from video-based marker-recordings of 3D movements
        
        - markers.analyze3Dmarkers ... Kinematic analysis of video-basedrecordings of 3D markers
        - markers.movement_from_markers ... Calculation of joint-movements from 3D marker positions
        
        Quaternions
        ===========
        
        Note that all these functions work with single quaternions and quaternion vectors,
        as well as with arrays containing these.
        
        Quaternion class
        ----------------
        
        - quat.Quaternion ... class, including overloading for multiplication and
                            division (e.g. "quatCombined = quat1 * quat2"), import and export
        
        Functions for working with quaternions
        --------------------------------------
        
        - quat.q_conj ... Conjugate quaternion 
        - quat.q_inv ... Quaternion inversion
        - quat.q_mult ... Quaternion multiplication
        - quat.q_scalar ... Extract the scalar part from a quaternion
        - quat.q_vector ... Extract the vector part from a quaternion
        - quat.unit_q ... Extend a quaternion vector to a unit quaternion.
        
        Conversion routines - quaternions
        ---------------------------------
        
        - quat.calc_angvel ... Calculates the velocity in space from quaternions
        - quat.calc_quat ... Calculate orientation from a starting orientation and angular velocity.
        - quat.convert ... Convert quaternion to corresponding rotation matrix or Gibbs vector
        - quat.deg2quat ... Convert number or axis angles to quaternion vectors
        - quat.scale2deg ... Convert quaternion to corresponding axis angle
        
        
        
        Rotation Matrices
        =================
        
        Definition of rotation matrices
        -------------------------------
        
        - rotmat.R ... 3D rotation matrix for rotation about a coordinate axis
        
        Conversion Routines - rotation matrices
        ---------------------------------------
        - rotmat.convert ... Convert a rotation matrix to the corresponding quaternion
        - rotmat.sequence ... Calculation of Euler, Fick, Helmholtz, ... angles
        
        Symbolic matrices
        -----------------
        
        - rotmat.R_s() ... symbolix matrix for rotation about a coordinate axis
        
        For example, you can e.g. generate a Fick-matrix, with
        
        >>>    R_Fick = R_s(2, 'theta') * R_s(1, 'phi') * R_s(0, 'psi')
            
        Vectors
        =======
        
        Routines for working with vectors
        These routines can be used with vectors, as well as with matrices containing a vector in each row.
        
        - vector.normalize ... Vector normalization
        - vector.project ... Projection of one vector onto another one
        - vector.GramSchmidt ... Gram-Schmidt orthogonalization of three points
        - vector.q_shortest_rotation ... Quaternion indicating the shortest rotation from one vector into another.
        - vector.rotate_vector ... Rotation of a vector
        
        Interactive Data Analysis
        =========================
        
        - viewer.ts ... interactive viewer for time series data
        
Keywords: quaterions rotations
Platform: UNKNOWN
Classifier: Development Status :: 4 - Beta
Classifier: Programming Language :: Python :: 2
Classifier: Programming Language :: Python :: 3
Classifier: Intended Audience :: Developers
Classifier: Intended Audience :: Science/Research
Classifier: License :: OSI Approved :: BSD License
Classifier: Topic :: Scientific/Engineering
