math_tools.geometry.pose_metric Namespace Reference

Classes
class	Metric
class	Metric_Settings
	Class Constructor: More...
class	Orientation_Metric
class	Pose_Metric
class	Position_Metric

Variables
dictionary	key_dic
dictionary	type_dic
list	representations_of_position = ['Cartesian Coordinates', 'Cylinderical Coordinates', 'Spherical Coordinates']
list	representations_of_orientation = ['matrix', 'vector', 'angle', 'trace' ,'diag', 'quaternion', 'angle_axis']
list	special_metric_representations = ['AxInPr','DiNoQu', 'AxInPr+DiNoQu','ReRoAn + ReOrVe']

Variable Documentation

dictionary key_dic

Initial value:

= {
    'DiRoMa'        : 'Difference of Rotation Matrices',
    'DiQu'          : 'Difference of Quaternions',
    'DiNoQu'        : 'Non-redundant Difference of Quaternions',
    'DiOrVe'        : 'Difference of Orientation Vectors',
    'ReRoMa'        : 'Trace of Relative Rotation Matrix',
    'ReRoMaTr'      : 'Trace of Relative Rotation Matrix',
    'AxInPr     '   : 'Axis Inner Product',
    'ReQu'          : 'Relative Orientation Vector',
    'ReOrVe'        : 'Relative Orientation Vector',
    'ReRoAn'        : 'Relative Rotation Angle'}

Definition at line 22 of file pose_metric.py.

list representations_of_orientation = ['matrix', 'vector', 'angle', 'trace' ,'diag', 'quaternion', 'angle_axis']

Definition at line 46 of file pose_metric.py.

list representations_of_position = ['Cartesian Coordinates', 'Cylinderical Coordinates', 'Spherical Coordinates']

Definition at line 45 of file pose_metric.py.

list special_metric_representations = ['AxInPr','DiNoQu', 'AxInPr+DiNoQu','ReRoAn + ReOrVe']

Definition at line 47 of file pose_metric.py.

dictionary type_dic

Initial value:

= {
    'DiRoMa'        : 'matrix',
    'DiQu'          : 'quaternion',
    'DiNoQu'        : 'quaternion',
    'DiOrVe'        : 'vector',
    'ReRoMa'        : 'matrix',
    'ReRoMaTr'      : 'matrix',
    'ReQu'          : 'quaternion',
    'ReOrVe'        : 'vector',
    'ReRoAn'        : 'angle'}

Definition at line 34 of file pose_metric.py.