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spatial math types
Peter Corke edited this page Feb 27, 2023
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1 revision
The module base/types.py
defines a set of types for different arrays. These are all ndarray
but giving them more meaningful types is helpful when writing code. The defined types are:
1D arrays for input to functions
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ArrayLikePure
array like of arbitrary length, eg. `np.r_[1, 2, 3], [1], (1, 2, 3, 4) -
ArrayLike
array like of arbitrary length including scalar, eg.2, np.r_[2], [2], (2,)
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ArrayLike2
array like of length 2, eg.np.r_[1, 2], [1, 2], (1, 2)
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ArrayLike3
array like of length 3, eg.np.r_[1, 2, 3], [1, 2, 3], (1, 2, 3)
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ArrayLike4
array like of length 4, eg.np.r_[1, 2, 3, 4], [1, 2, 3, 4], (1, 2, 3, 4)
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ArrayLike6
array like of length 6
Real vectors
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R1
is a 1Dndarray
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R2
is a 1Dndarray
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R3
is a 1Dndarray
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R4
is a 1Dndarray
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R6
is a 1Dndarray
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R8
is a 1Dndarray
Real matrices
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R1x1
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R2x2
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R3x3
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R4x4
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R6x6
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R8x8
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R1x3
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R3x1
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R1x2
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R2x1
Points
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Points2
2D points, columnise, -
Points3
2D points, columnise, -
RNx3
Lie groups
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SO2Array
2D rotation matrix, element of -
SE2Array
2D rigid-body transformation matrix, element of -
SO3Array
3D rotation matrix, element of -
SE3Array
3D rigid-body transformation matrix, element of
Lie algebras, skew and augmented skew matrices
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so2Array
Lie algebra of -
se2Array
Lie algebra of -
so3Array
Lie algebra of -
se3Array
Lie algebra of
Quaternions
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QuaternionArray
quaternion, element of -
UnitQuaternionArray
unit quaternion, element of
2D and 3D unions
Rn = R2 | R3
SOnArray = SO2Array | SO3Array
SEnArray = SE2Array | SE3Array
sonArray = so2Array | so3Array
senArray = se2Array | se3Array