.. _kinematics-label:

Kinematics
==========

These routines facilitate the calculation of 3d movement kinematics.

Functions
---------

General
^^^^^^^
* :func:`kinematics.vel2quat` ... Calculate orientation from a starting orientation and angular velocity.
* :func:`kinematics.getXSensData` ... Read in Rate and stored 3D parameters from XSens IMUs

Optical Systems
^^^^^^^^^^^^^^^
* :func:`kinematics.analyze3Dmarkers` ... Kinematic analysis of video-basedrecordings of 3D markers
* :func:`kinematics.movement_from_markers` ... Calculation of joint-movements from 3D marker positions

IMUs
^^^^
* :func:`kinematics.acc_gyr` ... Calculate orientation and position, from angular velocity and linear acceleration 
* :func:`kinematics.kalman_quat` ... Calculate orientation from IMU-data using an Extended Kalman Filter

.. toctree::
   :maxdepth: 2

Class
-----
.. autosummary::
    kinematics.IMU


Methods
^^^^^^^
.. autosummary::

    kinematics.IMU.calc_orientation
    kinematics.IMU.calc_position
    kinematics.IMU.setData

.. toctree::
   :maxdepth: 2


Details
-------
.. automodule:: kinematics
    :members:
