# scikit-kinematics - Documentation¶

*scikit-kinematics* is a library for scientific data analysis, with a focus on 3d
kinematics.

It is hosted under https://github.com/thomas-haslwanter/scikit-kinematics, and contains the following modules:

*imus*Analysis routines for IMU-recordings- calculation of orientation from velocity, recorded with IMUs or
space-fixed systems (four different algorithms are implemente here:
- simple quaternion integration
- a quaternion Kalman filter
- Madgwick’s algorithm
- Mahony’s algorithm

- calculation of position and orientation from IMU-signals
- The sub-directory
*sensors*contains utility to import in data from*xio*,*XSens*, and*yei*system

- calculation of orientation from velocity, recorded with IMUs or
space-fixed systems (four different algorithms are implemente here:
*markers*Analysis routines for 3D movements from marker-based video recordings- a function that takes recordings from video-systems (e.g. Optotrak) and calculates position and orientation
- calculation of joint movements from marker recordings

*quat*Functions for working with quaternions:- quaternion multiplication, inversion, conjugate
- conversions to rotation matrices, axis angles, vectors
- a
*Quaternion*class, including operator overloading for multiplication and division - also work on data arrays

*rotmat*Functions for working with rotation matrices- rotation matrices for rotations about the x-, y-, and z-axis
- symbolic rotation matrices
- conversions to Euler, Fick, Helmholtz angles
- spatial transformation matrices
- Denavit-Hartenberg transformations

*vector*Functions for working with vectors- angle between vectors
- Gram-Schmidt orthogonalization
- projection
- normalization
- rotation
- also work on data arrays

*view* Visualization of time-series data, and of 3D orientations

In addition, the packages includes the general module

*misc* Mainly GUI-functions for directory- and file selection etc.

## Installation¶

The simplest way to install *skinematics* is a two-step process

```
>>> pip install scikit-kinematics
```

However, you can also install from the source files. To do this, just go to the root directory of the package, and type

```
>>> python setup.py install
```

**Note**: After *skinematics* is installed, I typically import it in
*Python* with:

```
>>> import skinematics as skin
```

## Upgrading¶

For upgrading to the latest version, you have to type

```
>>> pip install --upgrade --no-deps scikit-kinematics
```

**Warning**: Do **not** use *pip install scikit-kinematics -U*, since that
command also upgrades dependencies such as numpy. This can break e.g.
WinPython, since the numpy-version including MKL may be replaced by one
without MKL.

### Dependencies¶

numpy, scipy, matplotlib, pandas, sympy

## Testing¶

The easiest way to test the package is with *unittest*. Open a terminal,
and type (on the command-line!):

```
>>> cd [_your_installation_dir_]\skinematics\tests
>>> python -m unittest
```

## Indices and tables¶

Note

*Author:*Thomas Haslwanter

*Version:*0.7.7

*Date:*May 2018

*email:*thomas.haslwanter@fh-linz.at

*Copyright (c):*2018, Thomas Haslwanter. All rights reserved.

*Licence:*This work is licensed under the BSD 2-Clause License