This repository contains code and numerical examples of the application of the SU-decomposition to rigid-body motion trajectory data. The numerical examples are presented in a Jupyter notebook (see notebooks/notebook.ipynb).
A detailed description of the SU‑decomposition algorithm is presented in the corresponding paper, titled: "A Coordinate-Invariant Local Representation of Motion and Force Trajectories for Identification and Generalization Across Coordinate Systems". A preprint of this paper is available on arXiv at the following link.