jamesgregson

"""Euler-angle to matrix and matrix to Euler-angle utility routines

This module provides utility routines to convert between 4x4 homogeneous
transformation matrices and Euler angles (and vice versa). It supports 
all six rotation orders ('xyz','xzy','yxz','yzx','zxy','zyx') for rotations
around body axes.

Two primary functions are provided:

- rotation( theta, order='xyz' ): given input rotation angles in radians

jamesgregson

#ifndef __KD_TREE_HEADER_H
#define __KD_TREE_HEADER_H

#include <set>
#include <list>
#include <tuple>
#include <queue>
#include <vector>
#include <algorithm>

jamesgregson

import cv2
import numpy as np
from http.server import BaseHTTPRequestHandler,HTTPServer
import io
import socket

import time
capture0 = None
capture1 = None

jamesgregson

import time
import base64
from http.server import BaseHTTPRequestHandler, HTTPServer

class MyHandler(BaseHTTPRequestHandler):
    def do_HEAD(self):
        self.send_response(200)
        self.send_header('Content-type', 'text/html')
        self.end_headers()

jamesgregson

import inspect

def contract( expects=[], ensures=[] ):
    def func_wrapper( func ):
        return Contract(function=func,preconditions=expects,postconditions=ensures )
    return func_wrapper

class Contract:

    class Args:

jamesgregson

'''Very simplified JSON-RPC server with endpoint registration

Try with:

curl -X POST -H "Content-type: application/json" -d '{"jsonrpc": "2.0", "id": 1, "method": "say_hello", "params": {"name": "James", "age": 11}}' http://127.0.0.1:8000
curl -X POST -H "Content-type: application/json" -d '{"jsonrpc": "2.0", "id": 1, "method": "say_hello", "params": {"name": "James"}}' http://127.0.0.1:8000
curl -X POST -H "Content-type: application/json" -d '{"jsonrpc": "2.0", "id": 1, "method": "say_hello", "params": ["James", 10]}' http://127.0.0.1:8000
curl -X POST -H "Content-type: application/json" -d '{"jsonrpc": "2.0", "id": 1, "method": "say_hello", "params": ["James"]}' http://127.0.0.1:8000

'''

jamesgregson

import unittest
import numpy as np
import scipy.sparse as sparse

class Filter2D:
    def __init__( self, offy, offx, vals ):
        '''2D filtering operation with spatial, fourier and matrix features

        Args:
            - offy (integer sequence): vertical offsets of filter coefficients

jamesgregson

'''Finite difference Jacobians

Author: James Gregson 
Date: 2020-10-04

Utility function to differentiate numeric functions with finite differences.
Useful for checking analytically derived Jacobian & gradient computations.

See bottom of file for example usage.

jamesgregson

'''
james.gregson@gmail.com

A pretty small 3D IK solver, < 100 lines of code but > 100 lines of comments.
Low dependency (numpy, opencv-python, matplotlib) and includes visualization.

Not particularly fast.

Solves for joint rotations needed in a kinematic skeleton to minimize errors of a set
of end-effectors with respect to a corresponding set of target positions. Assumes

jamesgregson

/*cppimport
<%
setup_pybind11(cfg)
%>
*/
#include <pybind11/numpy.h>
#include <pybind11/pybind11.h>
namespace py = pybind11;

#include <cmath>