thomas-haslwanter/kinematics_toolbox

MATLAB Toolbox for 3D Kinematics

kinematics_toolbox

The Matlab "3D-Kinematics" toolbox 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

• 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
• 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

• Time-series data
• 3D orientations