---
warning: DO NOT CHANGE THIS MANUALLY, THIS IS GENERATED BY https://github.com/duckdb/community-extensions repository, check README there
title: se3
excerpt: |
DuckDB Community Extensions
Provides SE(3) rigid transformations (combinations of rotations and translations in 3D) as DuckDB scalar functions.
extension:
name: se3
description: Provides SE(3) rigid transformations (combinations of rotations and translations in 3D) as DuckDB scalar functions.
version: 0.3.2
language: C++
build: cmake
license: MIT
excluded_platforms: ""
requires_toolchains: "vcpkg"
maintainers:
- jokasimr
repo:
github: jokasimr/se3
ref: v0.3.2
docs:
hello_world: |
SELECT se3_apply(
quat_from_axis_angle(
struct_pack(x:=0.0, y:=0.0, z:=1.0), -- rotation axis (Z)
pi()/2.0 -- 90 degrees
),
struct_pack(x:=1.0, y:=0.0, z:=0.0) -- point
); -- returns (0., 1., 0.)
extended_description: |
This extension provides SE(3) rigid transformations, implemented as DuckDB scalar functions.
Features:
- Sequences of rotations and translations can be combined to a 7 DOF struct that represents one combined translation then rotation. See `se3_compose`.
- Transformations can be efficiently applied to points in 3D without calling trigonometric functions. See `se3_apply()`.
For full documentation see: https://github.com/jokasimr/se3.
extension_star_count: 1
extension_star_count_pretty: 1
extension_download_count: 17348
extension_download_count_pretty: 17.3k
image: '/images/community_extensions/social_preview/preview_community_extension_se3.png'
layout: community_extension_doc
---
### Compatibility Matrix
This table covers all DuckDB releases that have not reached [end-of-life](https://duckdb.org/release_calendar), including LTS releases, and shows the 2 most recent patch releases of each. Older patch releases are not listed, but the extension may be available for them as well.
| Platform | 1.4.4 | 1.4.5 | 1.5.5 | 1.5.6 | 2.0.0 |
| :--- | :---: | :---: | :---: | :---: | :---: |
| Linux AMD64 | ✅ | ❌ | ✅ | ✅ | ❌ |
| Linux ARM64 | ✅ | ❌ | ✅ | ✅ | ❌ |
| macOS AMD64 | ✅ | ❌ | ✅ | ✅ | ❌ |
| macOS ARM64 | ✅ | ❌ | ✅ | ✅ | ❌ |
| Windows AMD64 | ✅ | ❌ | ✅ | ✅ | ❌ |
| Windows ARM64 | ❌ | ❌ | ❌ | ❌ | ❌ |
| WebAssembly | ❌ | ❌ | ✅ | ✅ | ❌ |
### Installing and Loading
```sql
INSTALL {{ page.extension.name }} FROM community;
LOAD {{ page.extension.name }};
```
{% if page.docs.hello_world %}
### Example
```sql
{{ page.docs.hello_world }}```
{% endif %}
{% if page.docs.extended_description %}
### About {{ page.extension.name }}
{{ page.docs.extended_description }}
{% endif %}
### Added Functions
| function_name | function_type | description | comment | examples |
|----------------------|---------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------|------------------------------------------------------------------------------------------------------------------|
| qconj | scalar | Returns the quaternion conjugate of q. | NULL | [qconj(vvec(1.0, 2.0, 3.0, 4.0))] |
| qmul | scalar | Multiplies quaternions qA and qB. | NULL | [qmul(quat_from_axis_angle(vvec(0.0, 0.0, 1.0), pi()/2.0), quat_from_axis_angle(vvec(0.0, 1.0, 0.0), pi()/2.0))] |
| qnorm2 | scalar | Returns the squared norm of quaternion q. | NULL | [qnorm2(quat_from_axis_angle(vvec(0.0, 0.0, 1.0), pi()/2.0))] |
| quat_from_axis_angle | scalar | Constructs a unit quaternion from axis and angle in radians. Returns NULL for a zero-length axis. | NULL | [quat_from_axis_angle(vvec(0.0, 0.0, 1.0), pi()/2.0)] |
| se3_apply | scalar | Applies transformation W to point p. W can be a full transformation struct, a vec3 representing only the translation part, or a quat representing only the rotation part. | NULL | [se3_apply(se3_identity(), vvec(1.0, 2.0, 3.0))] |
| se3_compose | scalar | Composes two transformations, applying W1 first and then W2. W1 and W2 can each be a full transformation struct, a vec3 representing only the translation part, or a quat representing only the rotation part. | NULL | [se3_compose(se3_identity(), se3_identity())] |
| se3_from_axis_angle | scalar | Constructs a transform from translation t and an axis-angle rotation. Returns NULL for a zero-length axis. | NULL | [se3_from_axis_angle(vvec(1.0, 0.0, 0.0), vvec(0.0, 0.0, 1.0), pi()/2.0)] |
| se3_identity | scalar | Returns the identity transform. | NULL | [se3_identity()] |
| se3_inv | scalar | Returns the inverse transformation of W. W can be a full transformation struct, a vec3 representing only the translation part, or a quat representing only the rotation part. | NULL | [se3_inv(se3_identity())] |
| se3_make | scalar | Constructs a transform from translation t and quaternion q. | NULL | [se3_make(vvec(1.0, 2.0, 3.0), quat_from_axis_angle(vvec(0.0, 0.0, 1.0), pi()/2.0))] |
| vadd | scalar | Returns the element-wise sum of a and b. | NULL | [vadd(vvec(1.0, 2.0, 3.0), vvec(4.0, 5.0, 6.0))] |
| vangle | scalar | Returns the angle in radians between a and b. | NULL | [vangle(vvec(1.0, 0.0, 0.0), vvec(0.0, 1.0, 0.0))] |
| vcos_angle | scalar | Returns vdot(a, b) / (vnorm(a) * vnorm(b)) without clamping. | NULL | [vcos_angle(vvec(1.0, 0.0, 0.0), vvec(0.0, 1.0, 0.0))] |
| vcross | scalar | Returns the 3D cross product of a and b. | NULL | [vcross(vvec(1.0, 0.0, 0.0), vvec(0.0, 1.0, 0.0))] |
| vdot | scalar | Returns the dot product of a and b. | NULL | [vdot(vvec(1.0, 2.0, 3.0), vvec(4.0, 5.0, 6.0))] |
| vnorm | scalar | Returns the Euclidean norm of v. | NULL | [vnorm(vvec(1.0, 2.0, 3.0))] |
| vnorm2 | scalar | Returns the squared Euclidean norm of v. | NULL | [vnorm2(vvec(1.0, 2.0, 3.0))] |
| vnormalize | scalar | Returns v divided by its Euclidean norm. | NULL | [vnormalize(vvec(1.0, 2.0, 3.0))] |
| vproj | scalar | Returns the projection of a onto b. | NULL | [vproj(vvec(2.0, 2.0, 0.0), vvec(1.0, 0.0, 0.0))] |
| vrej | scalar | Returns the rejection of a from b. | NULL | [vrej(vvec(2.0, 2.0, 0.0), vvec(1.0, 0.0, 0.0))] |
| vscale | scalar | Scales vector v by scalar s. | NULL | [vscale(vvec(1.0, 2.0, 3.0), 2.0)] |
| vsub | scalar | Returns the element-wise difference a - b. | NULL | [vsub(vvec(4.0, 5.0, 6.0), vvec(1.0, 2.0, 3.0))] |
| vvec | scalar | Creates a vec3 from x, y, and z components. | NULL | [vvec(1.0, 2.0, 3.0)] |
| vvec | scalar | Creates a vec4 from w, x, y, and z components. | NULL | [vvec(1.0, 2.0, 3.0, 4.0)] |
### Overloaded Functions
This extension does not add any function overloads.
### Added Types
This extension does not add any types.
### Added Settings
This extension does not add any settings.