Math

itmobotics_sim.utils.math.SE32vec(tf)

SE3 to vec

Convert a 4x4 homogeneous matrix to vector representation

Parameters:

tf (SE3) – group SE3 from spatialmath library

Returns:

array [x, y, z, alpha, beta, gamma]

Return type:

np.ndarray

itmobotics_sim.utils.math.vec2SE3(vec)

vec to SE3

Convert vector [x, y, z, alpha, beta, gamma] to 4x4 homogeneous matrix belonging to the group SE(3)

Parameters:

vec (np.ndarray) – (6,) np array [x, y, z, alpha, beta, gamma]

Returns:

group SE3 from spatialmath library

Return type:

SE3