spatial-casadi

This package implements various data structures and helper methods for manipulating spatial transformations using CasADi variables in Python. The library interface is partially based on the Scipy spatial module.

• Code: https://github.com/cmower/spatial-casadi
• Documentation: https://cmower.github.io/spatial-casadi/
• PyPI: https://pypi.org/project/spatial-casadi
• Issues: https://github.com/cmower/spatial-casadi/issues

Examples

There are three main data structures: Rotation, Translation, and Transformation. The following showcases some of the main functionality of the library.

```

import spatialcasadi as sc import casadi as cs cs.np.random.seed(10) euler = cs.SX.sym("euler", 3) sc.Rotation.fromeuler('xyz', euler).asquat() SX(@1=2, @2=cos((x2/@1)), @3=cos((x1/@1)), @4=sin((x0/@1)), @5=(@3@4), @6=sin((x2/@1)), @7=cos((x0/@1)), @8=sin((x_1/@1)), @9=(@7@8), @10=(@3@7), @11=(@8@4), [((@2@5)-(@6@9)), ((@2@9)+(@6@5)), ((@10@6)-(@2@11)), ((@2@10)+(@6@11))]) r = sc.Rotation.random() r.asquat() DM([0.615982, 0.330883, -0.71489, -0.0038783]) r.asrotvec() DM([-1.9304, -1.03694, 2.24037]) r.asmatrix() DM( [[-0.241103, 0.40209, -0.883285], [0.41318, -0.781003, -0.468312], [-0.878152, -0.477867, 0.0221665]]) r.aseuler('xyz') DM([-1.52444, 1.07199, 2.09902]) r.asmrp() DM([-0.613602, -0.329604, 0.712128]) sc.Rotation.fromeuler('x', 90, degrees=True).asmatrix() DM( [[1, 0, 0], [0, 2.22045e-16, -1], [0, 1, 2.22045e-16]]) r1 = sc.Rotation.random() r1.asquat() DM([0.625459, -0.724863, 0.267273, 0.109269]) r2 = sc.Rotation.random() r2.asquat() DM([0.00332548, -0.1353, 0.335557, 0.932247]) (r1 * r2).asquat() DM([0.376374, -0.899524, 0.203617, -0.0879736]) ```

Install

From PyPI

shell $ pip install spatial-casadi $ pip install spatial-casadi[test] # if you want to run the test scripts

From source

In a new terminal: 1. Clone repository: - (ssh) $ git clone git@github.com:cmower/spatial-casadi.git, or - (https) $ git clone https://github.com/cmower/spatial-casadi.git 2. Change directory: $ cd spatial-casadi 3. Ensure pip is up-to-date: $ python -m pip install --upgrade pip 3. Install from source: - (main library) $ pip install . - (when you want to also run the test scripts) $ pip install .[test]

Running the test scripts

1. Install spatial-casadi from source and ensure you install the test packages (see previous section).
2. Change directory: $ cd /path/to/spatial-casadi
3. Run tests: pytest

Build documentation

The documentation is hosted here. However, if you want to build it yourself, then follow these steps.

In a new terminal: 1. Clone repository: - (ssh) $ git clone git@github.com:cmower/spatial-casadi.git, or - (https) $ git clone https://github.com/cmower/spatial-casadi.git 2. Change directory: $ cd spatial-casadi/doc 3. Install doxygen: $ sudo apt install doxygen 4. Build documentation: $ doxygen 5. View documentation: - In a browser, open html/index.html - Build pdf (requires LaTeX) - $ cd latex - $ make - Open the file called refman.pdf

Citing

If you use spatial-casadi in your work, please consider citing the following.

bibtex @software{Mower2023 title = "Spatial CasADi: A Compact Library for Manipulating Spatial Transformations", author = "Christopher E. Mower", year = "2023", url = {https://github.com/cmower/spatial-casadi}, }

Contributing

If you have any issues with the library, or find inaccuracies in the documentation please raise an issue. I am happy to consider new features if you fork the library and submit a pull request.