torchcontrol.transform package¶

Submodules¶

torchcontrol.transform.rotation module¶

class torchcontrol.transform.rotation.RotationObj(q: Tensor)¶

Bases: object

A scriptable rotation object used for storing & manipulating rotations in 3D space. The API is similar to that of scipy.spatial.transform.Rotation.

Rotation parameters are stored as quaternions due to:

Efficient computational properties
Compactness (compared to rotation matrices)
Avoidance of gimbal lock (euler angles), ambiguity (axis-angle)

Quaternions follow the convention of <x, y, z, w>.

apply(v)¶

Applies the rotation to a vector

Parameters:: v – Input vector of shape (3,)
Returns:: Resulting vector of shape (3,)

as_matrix() → Tensor¶

Returns:: Matrix representation of rotation

as_quat() → Tensor¶

Returns:: Quaternion representation of rotation

as_rotvec() → Tensor¶

Returns:: Rotation vector representation of rotation

axis() → Tensor¶

Returns:: Axis of rotation

inv() → RotationObj¶

Inverts the rotation

Returns:: Inverted RotationObj

magnitude() → Tensor¶

Returns:: Magnitude of rotation

torchcontrol.transform.rotation.from_matrix(matrix: Tensor) → RotationObj¶

Creates a rotation object from a rotation matrix

Parameters:: quat – Matrix representation
Returns:: Resulting RotationObj

torchcontrol.transform.rotation.from_quat(quat: Tensor) → RotationObj¶

Creates a rotation object from a quaternion

Parameters:: quat – Quaternion representation
Returns:: Resulting RotationObj

torchcontrol.transform.rotation.from_rotvec(rotvec: Tensor) → RotationObj¶

Creates a rotation object from a rotation vector

Parameters:: quat – Rotation vector representation
Returns:: Resulting RotationObj

torchcontrol.transform.rotation.identity() → RotationObj¶

Creates a zero rotation object

Returns:: Identity RotationObj

torchcontrol.transform.rotation_conversions module¶

torchcontrol.transform.transformation module¶

class torchcontrol.transform.transformation.TransformationObj(rotation: RotationObj, translation: Tensor)¶

Bases: object

A scriptable transformation object used for storing & manipulating transformations in 3D space. A transformation consists of a translation and a rotation.

Quaternions follow the convention of <x, y, z, w>.

apply(v: Tensor)¶: Applies the transformation to a vector tf.apply(v) = tf.rotation().apply(v) + tf.translation

as_matrix() → Tensor¶

Returns:: Matrix representation of transformation (4-by-4)

as_twist() → Tensor¶

inv() → TransformationObj¶: Inverts the transformation :returns: Inverted TransformationObj

rotation() → RotationObj¶

Returns:: Rotation component as a RotationObj

translation() → Tensor¶

Returns:: Translation component as a vector

torchcontrol.transform.transformation.from_matrix(T: Tensor) → TransformationObj¶

Creates a translation object from a translation vector and a rotation object

Parameters:: T – Transformation matrix representation
Returns:: Resulting TranslationObj

torchcontrol.transform.transformation.from_rot_xyz(rotation: RotationObj, translation: Tensor) → TransformationObj¶

Creates a translation object from a translation vector and a a rotation object

Parameters:

translation – Translation component as a vector
rotation – Rotation component as a RotationObj

Returns:

Resulting TranslationObj

torchcontrol.transform.transformation.identity() → TransformationObj¶

Creates a zero transformation object

Returns:: Identity TransformationObject

Module contents¶

torchcontrol.policies package torchcontrol.utils package

Polymetis documentation