:py:mod:`rofunc.utils.maniplab.manipulability_calculator`
=========================================================

.. py:module:: rofunc.utils.maniplab.manipulability_calculator

.. autodoc2-docstring:: rofunc.utils.maniplab.manipulability_calculator
   :allowtitles:

Module Contents
---------------

Functions
~~~~~~~~~

.. list-table::
   :class: autosummary longtable
   :align: left

   * - :py:obj:`quaternion_to_rotation_matrix <rofunc.utils.maniplab.manipulability_calculator.quaternion_to_rotation_matrix>`
     - .. autodoc2-docstring:: rofunc.utils.maniplab.manipulability_calculator.quaternion_to_rotation_matrix
          :summary:
   * - :py:obj:`forward_kinematics <rofunc.utils.maniplab.manipulability_calculator.forward_kinematics>`
     - .. autodoc2-docstring:: rofunc.utils.maniplab.manipulability_calculator.forward_kinematics
          :summary:
   * - :py:obj:`calculate_manipulability <rofunc.utils.maniplab.manipulability_calculator.calculate_manipulability>`
     - .. autodoc2-docstring:: rofunc.utils.maniplab.manipulability_calculator.calculate_manipulability
          :summary:

API
~~~

.. py:function:: quaternion_to_rotation_matrix(quaternion)
   :canonical: rofunc.utils.maniplab.manipulability_calculator.quaternion_to_rotation_matrix

   .. autodoc2-docstring:: rofunc.utils.maniplab.manipulability_calculator.quaternion_to_rotation_matrix

.. py:function:: forward_kinematics(joint_positions, joint_rotations, parent_indices)
   :canonical: rofunc.utils.maniplab.manipulability_calculator.forward_kinematics

   .. autodoc2-docstring:: rofunc.utils.maniplab.manipulability_calculator.forward_kinematics

.. py:function:: calculate_manipulability(jacobian)
   :canonical: rofunc.utils.maniplab.manipulability_calculator.calculate_manipulability

   .. autodoc2-docstring:: rofunc.utils.maniplab.manipulability_calculator.calculate_manipulability