task_frame.py

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## @file:           task_frame.py
#  @brief:          This module provides a class representing the reference orientation of an endeffector and the desired value for it.
#  @author          Nima Ramezani Taghiabadi 
#
#                   PhD Researcher 
#                   Faculty of Engineering and Information Technology 
#                   University of Technology Sydney (UTS) 
#                   Broadway, Ultimo, NSW 2007, Australia 
#                   Phone No. :   04 5027 4611 
#                   Email(1)  : nima.ramezani@gmail.com 
#                   Email(2)  : Nima.RamezaniTaghiabadi@uts.edu.au 
#  @version         3.0
# 
#  Last Revision:   11 January 2015

import numpy, math

from packages.nima.robotics.kinematics.jacobian import jacobian as jaclib

import packages.nima.mathematics.algebra.vectors_and_matrices as vecmat

from packages.nima.mathematics.geometry import metric, geometry as geo, trajectory as trajlib