The util
module
Numython R&D, (c) 2020 Moro is a Python library for kinematic and dynamic modeling of serial robots. This library has been designed, mainly, for academic and research purposes, using SymPy as base library.
- moro.util.deg2rad(theta, evalf=True)[source]
Convert degrees to radians
- Parameters
- thetafloat, int, symbolic
- Returns
- theta_radsymbolic
- moro.util.is_SO3(R)[source]
Check if R is a matrix of the SO(3) group.
- Parameters
- Rsympy.matrices.dense.MutableDenseMatrix
- Returns
- False or True
- moro.util.isorthonormal(R)[source]
Check if R is orthonormal
- Parameters
- Rsympy.matrices.dense.MutableDenseMatrix
- Returns
- False or True
- moro.util.isrot(R)[source]
Is R a rotation matrix ?
- Parameters
- Rsympy.matrices.dense.MutableDenseMatrix
- Returns
- False or True
- moro.util.issympyobject(obj)[source]
Determine if input (obj) is a sympy object.
Examples
>>> from sympy import symbols >>> x = symbols("x") >>> issympyobject(x) True
- moro.util.rad2deg(theta, evalf=True)[source]
Convert radians to degrees
- Parameters
- thetafloat, int, symbolic
- Returns
- theta_degsymbolic