Coverage for src/robotics_numpy/transforms/__init__.py: 100%
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« prev ^ index » next coverage.py v7.9.2, created at 2025-07-14 16:02 +0200
1"""
2Transforms module for robotics-numpy
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
11The module is designed to be lightweight and fast, using only NumPy.
12"""
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)
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",
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",
65 # Pose classes
66 "SE3",
67 "SO3",
68]