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Invariants-python
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Calculate the Invariants of a Translation Trajectory

This page demonstrates how to calculate the invariants of a translation trajectory in Python.

First import the necessary modules:

from invariants_py import read_and_write_data as rw
import invariants_py.plotters as plotters
from invariants_py import calculate_invariants

Load in the trajectory data:

path_data = rw.find_data_path("sinus.txt")
trajectory, time = rw.read_pose_trajectory_from_txt(path_data)

Calculate invariants:

invariants, progress, calc_trajectory = calculate_invariants.calculate_invariants_translation(trajectory)

Plot the results:

plotters.plot_invariants_new(invariants, progress)
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