64 lines
1.7 KiB
Markdown
64 lines
1.7 KiB
Markdown
# "modern_robotics" Python Package Instructions #
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This package is the code library for _Modern Robotics: Mechanics, Planning,
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and Control_. [Here](../../doc/MRlib.pdf) is the introduction. For more
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details please see the [website](http://modernrobotics.org/).
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## Installing the Package ##
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### Recommended Method ###
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Use [pip](https://en.wikipedia.org/wiki/Pip_(package_manager)) to install by
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running
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```
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pip install modern_robotics
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```
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If pip is not preinstalled, check
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[here](https://pip.pypa.io/en/stable/installing/) for help of installing pip.
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### Alternative Method ###
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Download the package and run `python setup.py build` and
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`python setup.py install` in the package directory
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## Importing the Package ##
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To import the package, we recommend using
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```
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import modern_robotics as mr
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```
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This process is required for any Python program using this package.
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## Using the Package ##
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After importing the package, you should be able to use any function in the
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package. Taking the function `RotInv` for example, you can check the
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description and usage example of this function by running
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```
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help(mr.RotInv)
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```
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As mentioned in the function usage example, you can try using this function
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by running
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```
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R = np.array([[0, 0, 1],
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[1, 0, 0],
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[0, 1, 0]])
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invR = mr.RotInv(R)
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```
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You should get the the variable `invR` whose value is the same as the output
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shown in the function usage example.
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## Using the Package Locally ##
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It is possible to use the package locally without installation. Download and
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place the package in the working directory. Note that since the package is
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not installed, you need to move the package if the working directory is
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changed. Importing is still required before using. |