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

Table of Contents¶

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¶

Representing Robot Pose: The good, the bad, and the ugly (slides): http://static.squarespace.com/static/523c5c56e4b0abc2df5e163e/t/53957839e4b05045ad65021d/1402304569659/Workshop+-+Rotations_v102.key.pdf
Representing Robot Pose: The good, the bad, and the ugly (blog): http://paulfurgale.info/news/2014/6/9/representing-robot-pose-the-good-the-bad-and-the-ugly
Kindr cheat sheet: https://docs.leggedrobotics.com/kindr/cheatsheet_latest.pdf
Why and How to Avoid the Flipped Quaternion Multiplication: https://arxiv.org/pdf/1801.07478.pdf