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Python Robotics Toolbox Quick Reference Cheat Sheet (DRAFT) by

Python Robotics Toolbox package quick reference Grouping based on MODERN ROBOTICS, Kevin M. Lynch and Frank C. Park, Cambridge University Press

This is a draft cheat sheet. It is a work in progress and is not finished yet.

Rigid Body Motions

Skew-S­ymm­etric
 
skew(v)
Adjoint Matrix
 
tr2adj­oint(T)
SO3
 
SO3(<R)
SO3 From Angle-Axis
 
SO3.An­gle­Axis(theta, w_hat)
SO3 From RPY
 
SO3.RP­Y(<r>, <p>, <y>)
SO3 From Rx, Ry, Rz
 
SO3.Raxis()
Angle-Axis From SO3
 
SO3.angvec()
SE3
 
SE3(T)
 

Important Packages

Spatial Math (SO3, SE3...)
 
spatia­lmath
Basic Math (skew-­sym­metric)
 
spatia­lma­th.base