gym_ignition.rbd¶
gym_ignition.rbd.conversions¶
- class gym_ignition.rbd.conversions.Quaternion¶
Bases:
abc.ABC- static from_matrix(matrix)¶
- Return type
ndarray
- static to_rotation(quaternion)¶
- Return type
ndarray
- static to_wxyz(xyzw)¶
- Return type
ndarray
- static to_xyzw(wxyz)¶
- Return type
ndarray
- class gym_ignition.rbd.conversions.Transform¶
Bases:
abc.ABC- static from_position_and_quaternion(position, quaternion)¶
- Return type
ndarray
- static from_position_and_rotation(position, rotation)¶
- Return type
ndarray
- static to_position_and_quaternion(transform)¶
- Return type
Tuple[ndarray,ndarray]
- static to_position_and_rotation(transform)¶
- Return type
Tuple[ndarray,ndarray]
gym_ignition.rbd.utils¶
- gym_ignition.rbd.utils.extract_skew(matrix)¶
Extract the skew-symmetric part of a square matrix.
- Parameters
matrix (
ndarray) – A square matrix.- Return type
ndarray- Returns
The skew-symmetric part of the input matrix.
- gym_ignition.rbd.utils.extract_symm(matrix)¶
Extract the symmetric part of a square matrix.
- Parameters
matrix (
ndarray) – A square matrix.- Return type
ndarray- Returns
The symmetric part of the input matrix.
- gym_ignition.rbd.utils.vee(matrix3x3)¶
Convert a 3x3 matrix to a 3D vector with the components of its skew-symmetric part.
- Parameters
matrix3x3 (
ndarray) – The input 3x3 matrix. If present, its symmetric part is removed.- Return type
ndarray- Returns
The 3D vector defining the skew-symmetric matrix.
Note
This is the inverse operator of
wedge().
- gym_ignition.rbd.utils.wedge(vector3)¶
Convert a 3D vector to a skew-symmetric matrix.
- Parameters
vector3 (
ndarray) – The 3D vector defining the matrix coefficients.- Return type
ndarray- Returns
The skew-symmetric matrix whose elements are created from the input vector.
Note
The wedge operator can be useful to compute the cross product of 3D vectors: \(v_1 \times v_2 = v_1^\wedge v_2\).