Methods

placo.flatten_on_floor(transformation: ndarray) → ndarray

Takes a 3D transformation and ensure it is “flat” on the floor (setting z to 0 and keeping only yaw)

Parameters:

transformation – a 3D transformation

Returns:

a 3D transformation that lies on the floor (no pitch/roll and no z)

placo.frame_yaw(rotation: ndarray) → float

Computes the “yaw” of an orientation.

Parameters:

rotation – the orientation

Returns:

a scalar angle [rad]

placo.interpolate_frames(frameA: ndarray, frameB: ndarray, AtoB: float) → ndarray

Interpolate between two frames.

Parameters:

• frameA – Frame A

• frameB – Frame B

• AtoB – A real number from 0 to 1 that controls the interpolation (0: frame A, 1: frameB)

Returns:

placo.rotation_from_axis(axis: str, vector: ndarray) → ndarray

Builds a rotation matrix with a given axis target.

Parameters:

• axis – axis (x, y or z)

• vector – target (unit) vector

Returns:

3x3 rotation matrix

placo.wrap_angle(angle: float) → float

Wraps an angle between -pi and pi.