"3D Kinematics" is a library for scientific data analysis, with a focus on 3d kinematics.
It ontains the following routines:
Analysis 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
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
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
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
Functions for working with vectors
* angle between vectors
* Gram-Schmidt orthogonalization
* projection
* normalization
* rotation
* also work on data arrays
Visualization of time-series data, and of 3D orientations