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pywayne-vio-so3

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Robust SO(3) rotation toolkit for robotics.

Software Engineering#robotics#rotation#quaternion#euler-angles#so3#lie-algebra#axis-angle
Authorwangyendt
Version1.0.0
Installs0

System Documentation

What problem does it solve?

SO(3) rotation matrix utilities including Lie group/ Lie algebra operations, rotation representation conversions, skew-symmetric matrix operations, and rotation averaging. Use when working with 3D rotations, robot kinematics, computer vision, SLAM, or any task requiring SO(3) matrix validation and manipulation

Core Features & Use Cases

  • Basic operations: check_SO3, SO3_mul, SO3_inv, SO3_diff for single and batch inputs with validity checks (R.T @ R ≈ I, det(R) = 1).
  • Lie group / Lie algebra mappings and conversions: SO3_Log, SO3_Exp, SO3_from_quat, SO3_to_quat, axis-angle, and Euler angle conversions.
  • Skew-symmetric and averaging: SO3_skew, SO3_unskew, SO3_mean for multi-rotation batches, plus rotation averaging support.

Quick Start

Instantiate the SO3 toolkit on a simple rotation and verify reconstruction using SO3_Log and SO3_Exp.

Dependency Matrix

Required Modules

None required

Components

Standard package

💻 Claude Code Installation

Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.

Please help me install this Skill:
Name: pywayne-vio-so3
Download link: https://github.com/wangyendt/wayne-skills/archive/main.zip#pywayne-vio-so3

Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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