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thomas-haslwanter / scikit-kinematics

Python functions for working with 3D kinematics.
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Denavit-Hartenberg convention #20

Closed thomas-haslwanter closed 5 years ago

thomas-haslwanter commented 6 years ago

Tommy, I think it would be better to implement it with a "spatial transformation matrix" , as

import skinematics as skin
def stm(axis, angle, translation):
    """Spatial Transformation Matrix"""
    stm = np.diag([0,0,0,1.0])
    stm[:-1,:-1] = skin.rotmat.R(axis, angle)
    stm[:3,-1] = translation
    return stm
tommy3001 commented 6 years ago

Ok. I understand the way you suggest to implement it. Important is here the special convention regarding the order and axis for the denavit hartenberg convention. But that can be done as a wrapper of this stm() function. I will be able to do it. Please give me a few days.

thomas-haslwanter commented 5 years ago

stm is now implemented in the module "rotmat.py"