concepts.math.frame_utils_xyzw

Utilities for frame transformations in the XYZW convention. It focuses on transformation matrices and quaternions used in robotics.

Functions

calc_ee_quat_from_directions(u, v[, ...])	Compute the quaternion from two directions (the "down" direction for the end effector and the "forward" direction for the end effector).
calc_ee_rotation_mat_from_directions(u, v)	Compute the rotation matrix from two directions (the "down" direction for the end effector and the "forward" direction for the end effector).
calc_transformation_matrix_from_plane_equation(a, ...)	Compute the transformation matrix from a plane equation.
compose_transformation(pos1, quat1, pos2, quat2)	Compose two transformations.
frame_inv(pos_b, quat_b, a_to_b)	Inverse a frame with a transformation.
frame_mul(pos_a, quat_a, a_to_b)	Multiply a frame with a transformation.
get_transform_a_to_b(pos1, quat1, pos2, quat2)	Get the transformation from frame A to frame B.
inverse_transformation(pos, quat)	Inverse a transformation.
mat2posquat(mat)	Convert a 4x4 transformation matrix to position and quaternion.
posquat2mat(pos, quat)	Convert position and quaternion to a 4x4 transformation matrix.
solve_ee_from_tool(target_tool_pos, ...)	Solve for the end-effector position and orientation given the tool position and orientation.
solve_tool_from_ee(ee_pos, ee_quat, ee_to_tool)