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############
Transforms3d
############
Code to convert between various geometric transformations.
* Composing rotations / zooms / shears / translations into affine matrix;
* Decomposing affine matrix into rotations / zooms / shears / translations;
* Conversions between different representations of rotations, including:
* 3x3 Rotation matrices;
* Euler angles;
* quaternions.
We have tried to document the algorithms carefully and write clear code in the
hope that this code can be a teaching reference. We document the math behind
some of the algorithms using `sympy <http://www.sympy.org>`_ in
``transforms3d/derivations``. We would be very pleased if y'all would like to
add your own algorithms and derivations - please get a copy of the code from
https://github.com/matthew-brett/transforms3d and get on down,
algorithmically. Feel free to use the github issue tracker and pull request
system to ask for advice and support.
*************
Documentation
*************
Documentation for latest released version at
http://matthew-brett.github.io/transforms3d
****
Code
****
See https://github.com/matthew-brett/transforms3d
Released under the BSD two-clause license - see the file ``LICENSE`` in the
source distribution.
Much of the code comes from `transformations.py
<http://www.lfd.uci.edu/~gohlke/code/transformations.py.html>`_ by Christoph
Gohlke, also released under the BSD license.
We use Github actions to test the code automatically under Pythons 3.7 through
3.10.
We depend on numpy >= 1.15. You may be able to make it work on an earlier
numpy if you really needed that.
The latest released version is at https://pypi.python.org/pypi/transforms3d
*******
Support
*******
Please put up issues on the `transforms3d issue tracker
<https://github.com/matthew-brett/transforms3d/issues>`_.
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