Spatial Maths for Python

This package provides Python classes and functions to represent, print, plot, manipulate and covert between many common representations of position, orientation and pose of objects in 2D or 3D space. This includes mathematical objects such as rotation matrices \(\mat{R} \in \SO{2}, \SO{3}\), angle sequences, exponential coordinates, homogeneous transformation matrices \(\mat{T} \in \SE{2}, \SE{3}\), unit quaternions \(\q \in \mathrm{S}^3\), and twists \(S \in \se{2}, \se{3}\).

• Introduction
  • Spatial math classes
  • Low-level spatial math
• Class reference
  • 3D-space
  • 2D-space
• Function reference
  • Transforms in 2D
  • Transforms in 3D
  • Transforms in ND
  • Quaternions
  • Symbolic computation
  • Vectors
  • Graphics and animation
  • Argument checking
  • Numerical utility functions
• Indices