core.space¶

Configuration spaces: q lives on the space (nq numbers), v in its tangent space (nv numbers).

Module Attributes

`EPS`	Added under the square root of a squared angle, so that every function is smooth at zero.

Classes

`Euclidean`(n)	Flat space: q and v are both n-vectors.
`Product`(*spaces)	Cartesian product of spaces; q and v are the blocks stacked in order.
`Quaternion`()	Rotations of a body as unit quaternions (w, x, y, z): q has 4 entries, and v is the body's angular velocity in its own frame [rad/s], 3 entries.
`SO2`()	Planar rotations as unit complex numbers: q = (cos θ, sin θ), v = angle step (rad).
`Space`(args, *kwargs)	Where a configuration lives.