quaternion-sim

Quick Description

A little project to show one use of quaternion, different ways to model
a ball on a plate and teach a bit of control theory.

Quaternions

General Informations

The notation used in this project is
q = [q0, q1, q2, q3] = [q0, qv]
where
q0 = cos(\theta/2)
qv = sin(\theta/2)e
with e the axis of rotation (with a unit norm)

Quaternion Math

Will soon be described on the draft of my website.

Getting Started

Clone this repository
Make sure you have all the required python and Ubuntu packages then run:
python3 main.py

Implementation Status

• Quaternion class (easy): Done
• Pose class (easy): Done
• Solid class (easy): Done
• Frame class (medium): Done
• Frame Manager (medium): Done
• the graphic side (medium): On going (90%)
  • Solids (ball and plate): Done
  • Axes: Done
  • Improving Classes

• Ball plate dynamics equation: Not started

• Adding C\Cpp externals for faster computation: Not started

• Tests: On going

  • frames (100%)
  • quaternion (0%)
  • pose (0%)
  • solids (0%)

Requirements

• Python 3.5
• Numpy (developed with V1.10.4)
• PyQt4 (developed with V4.11.4)
  • Installed using Homebrew on Mac
• matplolib (developed with V1.5.1)
  • Not required anymore (switched to OpenGl for
    visual representation)
• PyOpenGL (developed with V3.1.0)

Pip Packages

The first four are contained in the Anaconda Python 3.5 distribution.
The last one can be obtained by using pip:
pip install numpy PyOpenGL PyOpenGL_accelerate

Ubnutu Packages

OpenGl

sudo apt-get install build-essential libgl1-mesa-dev libglew-dev libsdl2-dev libsdl2-image-dev libglm-dev libfreetype6-dev

PyQt4

sudo apt-get install python3-pyqt4