Bases: object
Saves/restores the state of the collision checker options
Bases: object
saves/restores the openravepy_int.options.returnTransformQuaternion state
for each quaternion, find the rotation about z that minimizes the distance between the identify (1,0,0,0). Return the transformed the quaternions along with the angle around the z-axis eliminated. qarray is a Nx4 array.
Bases: exceptions.Exception
wrap up the C++ openrave_exception
Bases: exceptions.Exception
multiplies a pose with an array of poses (each pose is a quaterion + translation)
rotates a point by an array of 4xN quaternions. Returns a 3xN vector
computes the natural distance (Haar measure) for quaternions, q is a 4-element array, qarray is Nx4
multiplies a Nx4 array of quaternions with a quaternion
rotates a point by an array of Nx4 quaternions. Returns a Nx3 vector
multiplies a quaternion q with each quaternion in the Nx4 array qarray
rotates a point by a 4-elt quaternion. Returns a 3 elt vector
rotates a set of points in Nx3 transarray by a quaternion. Returns a Nx3 vector
Bases: exceptions.Exception
wrap up the C++ runtime_error
Transforms a Nxk array of points by the inverse of an affine matrix