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.

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)

Will soon be described on the draft of my website.

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

• 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%)

• 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)

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

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

sudo apt-get install python3-pyqt4