archimedes.spatial

Spatial representations and kinematics/dynamics models.

Functions

dcm_to_quaternion(matrix)	Create a Quaternion from a rotation matrix.
euler_kinematics(rpy[, inverse])	Euler kinematical equations
euler_to_dcm(angles[, seq])	Direction cosine matrix from Euler angles
euler_to_quaternion(angles[, seq])	Convert Euler angles in radians to unit quaternion.
quaternion_inverse(q)	Inverse of a quaternion q = [w, x, y, z]
quaternion_kinematics(q, w[, baumgarte])	Quaternion kinematical equations
quaternion_multiply(q1, q2)	Multiply (compose) two quaternions
quaternion_to_dcm(quat)	Direction cosine matrix from unit quaternion
quaternion_to_euler(q[, seq])	Convert unit quaternion to roll-pitch-yaw Euler angles.

Classes

Attitude(*args, **kwargs)	Protocol for attitude representations.
EulerAngles(array[, seq])	Euler angle representation of a rotation in 3 dimensions
Quaternion(array)	Quaternion representation of a rotation in 3 dimensions.
RigidBody()	6-dof rigid body dynamics model