Cyecca Documentation

Cyecca is a Python library for geometric control and robotics using Lie groups, differential-algebraic equations (DAEs), and CasADi symbolic computation.

Contents:

• User Guide
  • Installation
  • Quick Start
  • Lie Groups
  • Modeling Framework
• API Reference
  • Lie Groups Module
  • Dynamics Module
  • Lie Groups
  • Model Framework
• Examples

Quick Start

Installation:

pip install cyecca

Basic example:

>>> import cyecca.lie as lie
>>> import casadi as ca
>>> # Create SE(3) transformation
>>> position = ca.DM([1, 2, 3])
>>> quaternion = ca.DM([1, 0, 0, 0])  # Identity rotation
>>> X = lie.SE3Quat.elem(ca.vertcat(position, quaternion))
>>> X.p.param.shape
(3, 1)

Indices and tables

• Index

• Module Index

• Search Page