Commit 3a006ffd authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

packaging

parent 77c15555
Pipeline #4175 failed with stages
in 54 seconds
include LICENSE
include README.md
recursive-include hqp *
recursive-include hqp/multi_contact *
def quaternion_from_matrix(matrix, isprecise=False):
"""Return quaternion from rotation matrix.
If isprecise is True, the input matrix is assumed to be a precise rotation
matrix and a faster algorithm is used.
>>> q = quaternion_from_matrix(np.identity(4), True)
>>> np.allclose(q, [1, 0, 0, 0])
True
>>> q = quaternion_from_matrix(np.diag([1, -1, -1, 1]))
>>> np.allclose(q, [0, 1, 0, 0]) or np.allclose(q, [0, -1, 0, 0])
True
>>> R = rotation_matrix(0.123, (1, 2, 3))
>>> q = quaternion_from_matrix(R, True)
>>> np.allclose(q, [0.9981095, 0.0164262, 0.0328524, 0.0492786])
True
>>> R = [[-0.545, 0.797, 0.260, 0], [0.733, 0.603, -0.313, 0],
... [-0.407, 0.021, -0.913, 0], [0, 0, 0, 1]]
>>> q = quaternion_from_matrix(R)
>>> np.allclose(q, [0.19069, 0.43736, 0.87485, -0.083611])
True
>>> R = [[0.395, 0.362, 0.843, 0], [-0.626, 0.796, -0.056, 0],
... [-0.677, -0.498, 0.529, 0], [0, 0, 0, 1]]
>>> q = quaternion_from_matrix(R)
>>> np.allclose(q, [0.82336615, -0.13610694, 0.46344705, -0.29792603])
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from setuptools import setup, find_packages #!/usr/bin/env python2
from distutils.core import setup
setup( setup(
name='hqp', name='hqp',
description='Hierarchichal Quadratic Programming', description='Hierarchichal Quadratic Programming',
version='1.0', version='1.0.1',
packages=['hqp', 'hqp.multi_contact'],
packages=find_packages(exclude=['data','tests','examples']), include_package_data=True,
url='https://github.com/gepetto/hqp',
author='Galo MALDONADO', author='Galo MALDONADO',
author_email='galo.maldonado@laas.fr', author_email='galo.maldonado@laas.fr',
license='LGPL',
#install_requires = [
# "pinocchio"
#],
classifiers=[ classifiers=[
'Intended Audience :: Science/Research', 'Intended Audience :: Science/Research',
'Programming Language :: Python', 'Programming Language :: Python',
......
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