pytransform3d¶
pytransform3d covers the following groups of transformations.
Group |
Description |
Representations |
---|---|---|
SO(3) |
3D rotations |
unit quaternion, rotation matrix, axis-angle, Euler angles, rotor |
SE(3) |
3D transformations (rotation and translation) |
transformation matrix, translation and unit quaternion, exponential coordinates, logarithm of transformation, unit dual quaternion |
Installation¶
pytransform3d is available at GitHub. The readme there contains installation instructions. This documentation explains how you can work with pytransform3d and with 3D transformations in general.
Citation¶
If you use pytransform3d for a scientific publication, I would appreciate citation of the following paper:
Fabisch, (2019). pytransform3d: 3D Transformations for Python.
Journal of Open Source Software, 4(33), 1159,