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