Functions
def	angle_within_mod180
def	angle_within_plus_minus_90
	returns equivalent angle in 1st or 4th quadrant.
def	composeHomogeneousTransform
def	getDispSubMat
def	getRotSubMat
def	homogeneousToxyz
def	invertHomogeneousTransform
def	matrix_to_axis_angle
	convert rotation matrix to axis and angle.
def	matrix_to_quaternion
def	quaternion_to_matrix
	convert a quaternion to a 3x3 rotation matrix.
def	rot_angle_direction
	compute rotation matrix from axis and angle.
def	rotX
def	rotY
def	rotZ
def	Rx
def	Ry
def	Rz
def	xyToHomogenous
def	xyToxyz
def	xyzToHomogenous

Function Documentation

def hrl_lib.transforms.angle_within_mod180 ( angle )

angle in radians.
    returns angle within -pi and +pi

Definition at line 96 of file transforms.py.

def hrl_lib.transforms.angle_within_plus_minus_90 ( angle )

returns equivalent angle in 1st or 4th quadrant.

Parameters:

angle - in RADIANS

Definition at line 110 of file transforms.py.

def hrl_lib.transforms.composeHomogeneousTransform	(	rot,
		disp
	)

Composes homogeneous transform from rotation and disp

Definition at line 86 of file transforms.py.

def hrl_lib.transforms.getDispSubMat ( t )

returns displacement submatrix from homogeneous transformation t

Definition at line 81 of file transforms.py.

def hrl_lib.transforms.getRotSubMat ( t )

returns rotation submatrix from homogeneous transformation t

Definition at line 76 of file transforms.py.

def hrl_lib.transforms.homogeneousToxyz ( p )

Definition at line 37 of file transforms.py.

def hrl_lib.transforms.invertHomogeneousTransform ( t )

Inverts homogeneous transform

Definition at line 64 of file transforms.py.

def hrl_lib.transforms.matrix_to_axis_angle ( rmat )

convert rotation matrix to axis and angle.

Parameters:

rmat	- 3x3 np matrix.

Definition at line 223 of file transforms.py.

def hrl_lib.transforms.matrix_to_quaternion ( r )

Definition at line 215 of file transforms.py.

def hrl_lib.transforms.quaternion_to_matrix ( q )

convert a quaternion to a 3x3 rotation matrix.

Parameters:

q	- quaternion (tf/transformation.py) (x,y,z,w)

Returns:: 3x3 rotation matrix (np matrix)

Definition at line 210 of file transforms.py.

def hrl_lib.transforms.rot_angle_direction	(	angle,
		direction
	)

compute rotation matrix from axis and angle.

Example: a1 = rot_angle_direction(math.radians(30), np.matrix([0.,1.,0.]).T) a2 = Ry(math.radians(30)) np.allclose(a1.T, a2) # result is True.

Parameters:

angle	- angle in RADIANS
direction	- 3x1 np matrix

Returns:: 3x3 np matrix that rotates a vector about the axis passing through the origin, in the given direction through angle.

Definition at line 201 of file transforms.py.

def hrl_lib.transforms.rotX ( theta )

returns Rotation matrix such that R*v -> v', v' is rotated about x axis through theta.
        theta is in radians.
        rotX = Rx'

Definition at line 155 of file transforms.py.

def hrl_lib.transforms.rotY ( theta )

returns Rotation matrix such that R*v -> v', v' is rotated about y axis through theta_d.
        theta is in radians.
        rotY = Ry'

Definition at line 166 of file transforms.py.

def hrl_lib.transforms.rotZ ( theta )

returns Rotation matrix such that R*v -> v', v' is rotated about z axis through theta_d.
        theta is in radians.
        rotZ = Rz'

Definition at line 177 of file transforms.py.

def hrl_lib.transforms.Rx ( theta )

returns Rotation matrix which transforms from XYZ -> frame rotated by theta about the x-axis.
    2 <--- Rx  <--- 1
        theta is in radians.
        Rx = rotX'

Definition at line 121 of file transforms.py.

def hrl_lib.transforms.Ry ( theta )

returns Rotation matrix which transforms from XYZ -> frame rotated by theta about the y-axis.
        theta is in radians.
        Ry = rotY'

Definition at line 133 of file transforms.py.

def hrl_lib.transforms.Rz ( theta )

returns Rotation matrix which transforms from XYZ -> frame rotated by theta about the z-axis.
        theta is in radians.
        Rz = rotZ'

Definition at line 144 of file transforms.py.

def hrl_lib.transforms.xyToHomogenous ( v )

convert 2XN matrix to 4XN homogeneous

Definition at line 56 of file transforms.py.

def hrl_lib.transforms.xyToxyz ( v )

convert 2XN matrix, to 3XN matrix in homogeneous coords

Definition at line 50 of file transforms.py.

def hrl_lib.transforms.xyzToHomogenous	(	v,
		floating_vector = `False`
	)

convert 3XN matrix, to 4XN matrix in homogeneous coords

Definition at line 40 of file transforms.py.

Functions

Function Documentation