there has already been a port of the robotics toolbox for matlab into python which is built on numpy:
http://code.google.com/p/robotics-toolbox-python/ which contains all the function you are describing. Chris On Wed, Mar 4, 2009 at 6:10 PM, Gareth Elston < gareth.elston.fl...@googlemail.com> wrote: > I found a nice module for these transforms at > http://www.lfd.uci.edu/~gohlke/code/transformations.py.html<http://www.lfd.uci.edu/%7Egohlke/code/transformations.py.html>. > I've > been using an older version for some time and thought it might make a > good addition to numpy/scipy. I made some simple mods to the older > version to add a couple of functions I needed and to allow it to be > used with Python 2.4. > > The module is pure Python (2.5, with numpy 1.2 imported), includes > doctests, and is BSD licensed. Here's the first part of the module > docstring: > > """Homogeneous Transformation Matrices and Quaternions. > > A library for calculating 4x4 matrices for translating, rotating, > mirroring, > scaling, shearing, projecting, orthogonalizing, and superimposing arrays of > homogenous coordinates as well as for converting between rotation matrices, > Euler angles, and quaternions. > """ > > I'd like to see this added to numpy/scipy so I know I've got some > reading to do (scipy.org/Developer_Zone and the huge scipy-dev > discussions on Scipy development infrastructure / workflow) to make > sure it follows the guidelines, but where would people like to see > this? In numpy? scipy? scikits? elsewhere? > > I seem to remember that there was a first draft of a guide for > developers being written. Are there any links available? > > Thanks, > Gareth. > _______________________________________________ > Numpy-discussion mailing list > Numpy-discussion@scipy.org > http://projects.scipy.org/mailman/listinfo/numpy-discussion >
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