python-needle-shape-sensing

Author: Dimitri Lezcano

This is a library of functions for needle shape sensing meant.

Package layout

numerical

A library of numerical functions like integrations like Euler-Poincare integration.

• simpson_vec_int: a function to perform Simpson Vector integration
• intEP_w0: Integration of the Euler-Poincare equation given a intrinsic angular deformation

cost_functions

A library of cost functions for shape-sensing optimizations

• singlebend_cost: A cost function to curvature measurements applied for the single-bend and single-layer homogenous tissue needle insertion

geometry

A library of geometrical functions (mostly for rigid body mechanics)

• hat: perform the inverse vee operation
• is_(so2|so3|se3): Determine if a matrix is of the for (so(2) | so(3) | se(3))
• is_(SO2|SO3|SE3): Determine if a matrix is of the for (SO(2) | SO(3) | SE(3))
• is_(skew)symm: Determine if a matrix is (skew-)symmetric
• vee: Convert (SO(2) | SO(3) | SE(3)) matrix -> (so(2) | so(3) | se(3)) element