RoboLab#
RoboLab is a subpackage of the rofunc
package. It contains useful functions for robotics.
1. Coordinate transformations and rigid body motions#
We consider the common coordinate and motion representation in robotics, and implement the functions to convert between them.
For rotations, we consider the following representations:
Euler angle:
euler
Rotation matrix:
rot_matrix
Quaternion:
quaternion
For translations, we consider the following representations:
Cartesian coordinates:
translation
For rigid body motions, we consider the following representations:
Homogeneous transformation matrix:
homo_matrix
1.1. Convert between rotation representations#
To convert from one rotation representation [src_repr]
to another [dst_repr]
, use the following functions:
import rofunc as rf
[src_repr]_R = ...
[dst_repr]_R = rf.robolab.[dst_repr]_from_[src_repr]([src_repr]_R)
Detailed usage examples for each functions can be found in the rofunc.utils.robolab.coord.transform.
1.2. Convert from rotation and translation to homogeneous transformation#
To convert from rotation [src_repr]_R
and translation [translation]_p
to homogeneous transformation T
, use the following functions:
import rofunc as rf
[src_repr]_R = ...
[translation]_p = ...
T = rf.robolab.homo_matrix_from_[src_repr]([src_repr]_R, [translation]_p)