pykinematics.imu.joints.fixed_axis

pykinematics.imu.joints.fixed_axis(center1, center2, center_to_sensor=True)

Compute the fixed axis of a segment based on computed joint centers.

Parameters:

center1 : numpy.ndarray

Location of the first joint center. This will be the “origin” of the axis.

center2 : numpy.ndarray

Location of the second joint center. This will be the “end” of the axis.

center_to_sensor : bool, optional

If the vectors provided are joint center to sensor (opposite is sensor to joint center). If True, then the axes are created in the opposite way as expected (eg right pointing pelvis axis would be left hip joint center minus the right hip joint center). Default is True.

Returns:

axis : numpy.ndarray

Fixed axis based on joint centers, from center1 to center2.