Coverage for src/robotics_numpy/transforms/__init__.py: 100%

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1""" 

2Transforms module for robotics-numpy 

3 

4This module provides 3D transformation utilities including: 

5- Homogeneous transformation matrices (SE3) 

6- Rotation matrices (SO3) 

7- Quaternions 

8- Euler angles and roll-pitch-yaw 

9- Pose representations 

10 

11The module is designed to be lightweight and fast, using only NumPy. 

12""" 

13 

14from .homogeneous import ( 

15 SE3_from_matrix, 

16 homogeneous_inverse, 

17 is_homogeneous, 

18 rotmat, 

19 transform_point, 

20 transform_points, 

21 transl, 

22) 

23from .pose import SE3, SO3 

24from .rotations import ( 

25 eul2r, 

26 is_rotation_matrix, 

27 quat2r, 

28 quat_inverse, 

29 quat_multiply, 

30 quat_normalize, 

31 r2eul, 

32 r2quat, 

33 r2rpy, 

34 rotx, 

35 roty, 

36 rotz, 

37 rpy2r, 

38) 

39 

40__all__ = [ 

41 # Homogeneous transformations 

42 "transl", 

43 "rotmat", 

44 "SE3_from_matrix", 

45 "homogeneous_inverse", 

46 "is_homogeneous", 

47 "transform_point", 

48 "transform_points", 

49 

50 # Rotations 

51 "rotx", 

52 "roty", 

53 "rotz", 

54 "rpy2r", 

55 "r2rpy", 

56 "eul2r", 

57 "r2eul", 

58 "quat2r", 

59 "r2quat", 

60 "quat_multiply", 

61 "quat_inverse", 

62 "quat_normalize", 

63 "is_rotation_matrix", 

64 

65 # Pose classes 

66 "SE3", 

67 "SO3", 

68]