pyKDL

SWIG Python bindings to KDL, making use of numpy arrays.

Features

An extensive list of features implemented at this time are explained in the following code.

import numpy
from pyKDL import Frame, Vector, Rotation

f = Frame()
f0 = Frame(R,v)
print f

v = Vector()
v0 = Vector()
print v

R = Rotation()
R0 = Rotation()
print R

v1 = v + v0
v2 = v - v1
v3 = v1 * v2
v4 = Vector()
v4.assign(v)

v4 = R * v
R1 = R * R0
R2 = Rotation()
R2.assign(R)

f1 = Frame()
f1.assign(f0)
v5 = f * v
f2 = f * f0
f_p = f.p()     # reference to position vector in Frame
f_o = f.M()
print f
f_p.assign(Vector(1,2,3))
print f         # frame changed

R_numpy = R.ndarray()
R3 = Rotation(*R_numpy)

v_numpy = v.ndarray()
v5 = Vector(*v_numpy)

v.x()           # get 0th element of v
v.x(1.0)        # set 0th element of v

R[0,0]          # equivalent to R(0,0) in c++
R[0,0] = 1.0    # equivalent to R(0,0) = 1.0 in c++