pytransform3d

pytransform3d covers the following groups of transformations.

Group

Description

Dimension

Representation

SO(3)

3D rotations

3

unit quaternion, rotation matrix, axis-angle, Euler angles

SE(3)

3D rigid transformations (translation + rotation)

6

transformation matrix, translation + unit quaternion

Notation

We will use the notation

_A\boldsymbol{t}_{BC}

to represent a vector from frame B to frame C expressed in frame A.

References