archimedes.spatial

Spatial representations and kinematics/dynamics models.

Functions

dcm_from_euler(rpy[, transpose])	Returns matrix to transform from inertial to body frame (R_BN).
euler_kinematics(rpy[, inverse])	Euler kinematical equations

Classes

RigidBody([rpy_attitude, baumgarte])	6-dof rigid body dynamics model
RigidBodyConfig(*[, baumgarte, rpy_attitude])	Configuration for RigidBody model.
Rotation(quat[, scalar_first])	Rotation in 3 dimensions.