Package Health Score

64 / 100

security
No known security issues
popularity
Limited
maintenance
Healthy
community
Limited

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Popularity

Limited

GitHub Stars: 131
Forks: 45
Contributors: 8

Direct Usage Popularity

Based on project statistics from the GitHub repository for the PyPI package scikit-kinematics, we found that it has been starred 131 times.

Security

No known security issues

Security and license risk for latest version

Release Date: Dec 2, 2024
Direct Vulnerabilities: 0
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0
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0
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Indirect Vulnerabilities: 0
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0
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License Risk: 0
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All security vulnerabilities belong to production dependencies of direct and indirect packages.

License

BSD-3-Clause

Security Policy

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Maintenance

Healthy

Commit Frequency

Open Issues: 15
Open PR: 0
Last Release: 23 days ago
Last Commit: 23 days ago

Further analysis of the maintenance status of scikit-kinematics based on released PyPI versions cadence, the repository activity, and other data points determined that its maintenance is Healthy.

We found that scikit-kinematics demonstrates a positive version release cadence with at least one new version released in the past 3 months.

In the past month we didn't find any pull request activity or change in issues status has been detected for the GitHub repository.

Community

Limited

Readme: Yes
Contributing.md: No
Code of Conduct: No
Contributors: 8
Funding: No

This project has seen only 10 or less contributors.

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Package

Python Versions Compatibility: >=3.9

Age: 9 years
Latest Release: 23 days ago
Dependencies: 0 Direct
Versions: 72
Maintainers: 0
Wheels: OS Independent

Readme

scikit-kinematics

scikit-kinematics primarily contains functions for working with 3D kinematics, e.g quaternions and rotation matrices. This includes utilities to read in data from the following IMU-sensors: - polulu - XSens - xio - xio-NGIMU - YEI

Compatible with Python >= 3.9

Dependencies

numpy, scipy, matplotlib, pandas, sympy, easygui

Homepage

Installation

You can install scikit-kinematics with

> pip install scikit-kinematics

and upgrade to a new version with

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

IMUs

Analysis of signals from IMUs (intertial-measurement-units). Read in data, calculate orientation (with one of the algorithms below)

get_data ... This method must be taken from one of the existing sensors, or from your own sensor. Currenlty the following sensors types are available:
- XSens
- xio (XIO, NGIMU, and XIO3)
- yei
* polulu
calc_position

MARG Systems

imus.analytical ... Calculate orientation and position, from angular velocity and linear acceleration
imus.kalman ... Calculate orientation from IMU-data using an Extended Kalman Filter.

imus.IMU ... Class for working with data from IMUs

:   -   imus.IMU.calc\_position ... calculate position
    -   imus.IMU.setData ... set the properties of an IMU-object
    -   imus.IMU.set\_qtype ... sets q\_type, and automatically
        performs the relevant calculations.

imus.Madgwick ... Class for calculating the 3D orientation with the Madgwick-algorithm
imus.Mahony ... Class for calculating the 3D orientation with the Mahony-algorithm

Markers

Analysis of signals from video-based marker-recordings of 3D movements

markers.analyze_3Dmarkers ... Kinematic analysis of video-basedrecordings of 3D markers
markers.find_trajectory ... Calculation of joint-movements from 3D marker positions

Quaternions

Note that all these functions work with single quaternions and quaternion vectors, as well as with arrays containing these.

Quaternion class

quat.Quaternion ... class, including overloading for multiplication and

:   division (e.g. "quatCombined = quat1 \* quat2"), import and
    export

Functions for working with quaternions

quat.q_conj ... Conjugate quaternion
quat.q_inv ... Quaternion inversion
quat.q_mult ... Quaternion multiplication
quat.q_scalar ... Extract the scalar part from a quaternion
quat.q_vector ... Extract the vector part from a quaternion
quat.unit_q ... Extend a quaternion vector to a unit quaternion.

Conversion routines - quaternions --------------------------------=

quat.calc_angvel ... Calculates the velocity in space from quaternions
quat.calc_quat ... Calculate orientation from a starting orientation and angular velocity.
quat.convert ... Convert quaternion to corresponding rotation matrix or Gibbs vector
quat.deg2quat ... Convert number or axis angles to quaternion vectors
quat.quat2seq ... Convert quaternions to sequention rotations ("nautical" angles, etc)
quat.scale2deg ... Convert quaternion to corresponding axis angle

Rotation Matrices

Definition of rotation matrices ------------------------------=

rotmat.R ... 3D rotation matrix for rotation about a coordinate axis

Conversion Routines - rotation matrices --------------------------------------=

rotmat.convert ... Convert a rotation matrix to the corresponding quaternion
rotmat.seq2quat ... Convert nautical angles etc. to quaternions
rotmat.sequence ... Calculation of Euler, Fick, Helmholtz, ... angles

Symbolic matrices

rotmat.R_s() ... symbolix matrix for rotation about a coordinate axis

For example, you can e.g. generate a Fick-matrix, with

>>> R_Fick = R_s(2, 'theta') * R_s(1, 'phi') * R_s(0, 'psi')

Spatial Transformation Matrices

rotmat.stm ... spatial transformation matrix, for combined rotations/translations
rotmat.stm_s() ... symbolix spatial transformation matrix

Denavit-Hartenberg Transformations

rotmat.dh ... Denavit-Hartenberg transformation matrix
rotmat.dh_s ... symbolic Denavit-Hartenberg transformation matrix

Vectors

Routines for working with vectors These routines can be used with vectors, as well as with matrices containing a vector in each row.

vector.normalize ... Vector normalization
vector.project ... Projection of one vector onto another one
vector.GramSchmidt ... Gram-Schmidt orthogonalization of three points
vector.q_shortest_rotation ... Quaternion indicating the shortest rotation from one vector into another.
vector.rotate_vector ... Rotation of a vector
vector.target2orient ... Convert target location into orientation angles

Interactive Data Analysis ========================-

viewer.ts ... interactive viewer for time series data
view.orientation ... visualize and animate orientations, expressed as quaternions.

Simulations

simulate_movements ... calculated ideal IMU-signals for combined rotations/translations

Errata

The file Errata.pdf contains the a list of mistakes in the manuscript, and the corresponding corrections.

FAQs

What is scikit-kinematics?

Python utilites for movements in 3d space. Visit Snyk Advisor to see a full health score report for scikit-kinematics, including popularity, security, maintenance & community analysis.

Is scikit-kinematics popular?

The python package scikit-kinematics receives a total of 605 weekly downloads. As such, scikit-kinematics popularity was classified as limited. Visit the popularity section on Snyk Advisor to see the full health analysis.

Is scikit-kinematics well maintained?

We found that scikit-kinematics demonstrated a healthy version release cadence and project activity. It has a community of 8 open source contributors collaborating on the project. See the full package health analysis to learn more about the package maintenance status.

Is scikit-kinematics safe to use?

The python package scikit-kinematics was scanned for known vulnerabilities and missing license, and no issues were found. Thus the package was deemed as safe to use. See the full health analysis review.

Last updated on 24 December-2024, at 22:29 (UTC).

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