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https://github.com/ami-iit/liecasadi

Rigid transform using Lie groups and Dual Quaternions, written in CasADi!

https://github.com/ami-iit/liecasadi

Science Score: 23.0%

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    Low similarity (7.8%) to scientific vocabulary

Keywords

casadi dual-quaternions lie-algebra lie-groups optimization python robotics
Last synced: 5 months ago · JSON representation

Repository

Rigid transform using Lie groups and Dual Quaternions, written in CasADi!

Basic Info
  • Host: GitHub
  • Owner: ami-iit
  • License: bsd-3-clause
  • Language: Python
  • Default Branch: main
  • Homepage:
  • Size: 96.7 KB
Statistics
  • Stars: 81
  • Watchers: 19
  • Forks: 8
  • Open Issues: 0
  • Releases: 7
Topics
casadi dual-quaternions lie-algebra lie-groups optimization python robotics
Created about 4 years ago · Last pushed 7 months ago
Metadata Files
Readme License

README.md

liecasadi

liecasadi

liecasadi implements Lie groups operation written in CasADi, mainly directed to optimization problem formulation.

Inspired by A micro Lie theory for state estimation in robotics and the library Manif.

🐍 Install

Conda

Create a conda environment conda create -n liecasadienv and install the library conda install liecasadi

Pip

Create a virtual environment, if you prefer. For example:

bash pip install virtualenv python3 -m venv your_virtual_env source your_virtual_env/bin/activate

Inside the virtual environment, install the library from pip:

bash pip install liecasadi

If you want the last version:

bash pip install "liecasadi @ git+https://github.com/ami-iit/lie-casadi.git"

Implemented Groups

| Group | Description | | --------- | ------------------ | | SO3 | 3D Rotations | | SE3 | 3D Rigid Transform | | S1 | Circle (1D angle) |

🚀 Operations

Being:

  • $X, Y \in SO3, \ SE3, \ S1$

  • $w \in \text{SO3Tangent}, \ \text{SE3Tangent}, \ \text{S1Tangent}$

  • $v \in \mathbb{R}^3$

| Operation | | Code | | :------------------ | :-----------------------------------: | :-----------: | | Inverse | $X^{-1}$ | X.inverse() | | Composition | $X \circ Y$ | X*Y | | Exponential | $\text{exp}(w)$ | phi.exp() | | Act on vector | $X \circ v$ | X.act(v) | | Logarithm | $\text{log}(X)$ | X.log() | | Manifold right plus | $X \oplus w = X \circ \text{exp}(w)$ | X + phi | | Manifold left plus | $w \oplus X = \text{exp}(w) \circ X$ | phi + X | | Manifold minus | $X-Y = \text{log}(Y^{-1} \circ X)$ | X-Y |

🦸‍♂️ Example

```python from liecasadi import SE3, SO3, SE3Tangent, SO3Tangent

Random quaternion + normalization

quat = (np.random.rand(4) - 0.5) * 5 quat = quat / np.linalg.norm(quat)

Random vector

vector3d = (np.random.rand(3) - 0.5) * 2 * np.pi

Create SO3 object

rotation = SO3(quat)

Create Identity

identity = SO3.Identity()

Create SO3Tangent object

tangent = SO3Tangent(vector3d)

Random translation vector

pos = (np.random.rand(3) - 0.5) * 5

Create SE3 object

transform = SE3(pos=pos, xyzw=quat)

Random vector

vector6d = (np.random.rand(3) - 0.5) * 5

Create SE3Tangent object

tangent = SO3Tangent(vector6d) ```

Dual Quaternion example

```python from liecasadi import SE3, DualQuaternion from numpy import np

orientation quaternion generation

quat1 = (np.random.rand(4) - 0.5) * 5 quat1 = quat1 / np.linalg.norm(quat1) quat2 = (np.random.rand(4) - 0.5) * 5 quat2 = quat2 / np.linalg.norm(quat2)

translation vector generation

pos1 = (np.random.rand(3) - 0.5) * 5 pos2 = (np.random.rand(3) - 0.5) * 5

dualquaternion1 = DualQuaternion(quat1, pos1) dualquaternion2 = DualQuaternion(quat2, pos2)

from a homogenous matrix

(using liecasadi.SE3 to generate the corresponding homogenous matrix)

H = SE3.frompositionquaternion(pos, quat).asmatrix() dualquaternion1 = DualQuaternion.from_matrix(H)

Concatenation of rigid transforms

q1xq2 = dualquaternion1 * dualquaternion2

to homogeneous matrix

print(q1xq2.as_matrix())

obtain translation

print(q1xq2.translation())

obtain rotation

print(q1xq2.rotation().as_matrix())

transform a point

point = np.random.randn(3,1) transformedpoint = dualquaternion1.transform_point(point)

create an identity dual quaternion

I = DualQuaternion.Identity() ```

🦸‍♂️ Contributing

liecasadi is an open-source project. Contributions are very welcome!

Open an issue with your feature request or if you spot a bug. Then, you can also proceed with a Pull-requests! :rocket:

Owner

  • Name: Artificial and Mechanical Intelligence
  • Login: ami-iit
  • Kind: organization
  • Location: Italy

GitHub Events

Total
  • Create event: 5
  • Release event: 1
  • Issues event: 1
  • Watch event: 22
  • Delete event: 3
  • Issue comment event: 4
  • Push event: 8
  • Pull request review comment event: 8
  • Pull request review event: 15
  • Pull request event: 9
  • Fork event: 1
Last Year
  • Create event: 5
  • Release event: 1
  • Issues event: 1
  • Watch event: 22
  • Delete event: 3
  • Issue comment event: 4
  • Push event: 8
  • Pull request review comment event: 8
  • Pull request review event: 15
  • Pull request event: 9
  • Fork event: 1

Committers

Last synced: 8 months ago

All Time
  • Total Commits: 106
  • Total Committers: 3
  • Avg Commits per committer: 35.333
  • Development Distribution Score (DDS): 0.019
Past Year
  • Commits: 24
  • Committers: 1
  • Avg Commits per committer: 24.0
  • Development Distribution Score (DDS): 0.0
Top Committers
Name Email Commits
giulero g****o@g****m 104
Daniele Pucci d****5@g****m 1
Fabio f****i@g****m 1

Issues and Pull Requests

Last synced: 7 months ago

All Time
  • Total issues: 0
  • Total pull requests: 0
  • Average time to close issues: N/A
  • Average time to close pull requests: N/A
  • Total issue authors: 0
  • Total pull request authors: 0
  • Average comments per issue: 0
  • Average comments per pull request: 0
  • Merged pull requests: 0
  • Bot issues: 0
  • Bot pull requests: 0
Past Year
  • Issues: 0
  • Pull requests: 0
  • Average time to close issues: N/A
  • Average time to close pull requests: N/A
  • Issue authors: 0
  • Pull request authors: 0
  • Average comments per issue: 0
  • Average comments per pull request: 0
  • Merged pull requests: 0
  • Bot issues: 0
  • Bot pull requests: 0
View more stats
Top Authors
Issue Authors
  • misofey (1)
Pull Request Authors
  • Giulero (4)
  • FabioBergonti (1)
  • edxmorgan (1)
Top Labels
Issue Labels
Pull Request Labels

Packages

  • Total packages: 1
  • Total downloads:
    • pypi 913 last-month
  • Total dependent packages: 0
  • Total dependent repositories: 1
  • Total versions: 6
  • Total maintainers: 1
pypi.org: liecasadi

Rigid transform using Lie groups, written in CasADi!

  • Documentation: https://liecasadi.readthedocs.io/
  • License: BSD 3-Clause License Copyright (c) 2022, Artificial and Mechanical Intelligence All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  • Latest release: 0.0.7
    published 12 months ago
  • Versions: 6
  • Dependent Packages: 0
  • Dependent Repositories: 1
  • Downloads: 913 Last month
Rankings
Dependent packages count: 10.1%
Dependent repos count: 21.6%
Average: 26.7%
Downloads: 48.4%
Maintainers (1)
giulero
Last synced: 6 months ago

Dependencies

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