numpy_quaternion 2个四元数之间的角度 numpy_quaternion是一个计算两个四元数之间角度的库函数,具体实现过程如下: 1. 首先,导入 numpy 库。 2. 定义 quaternion_to_rotation_matrix 函数,将四元数转换为旋转矩阵,用于计算旋转轴和角度。 3. 定义 quaternion_to_axis_angle 函数,将四
array([1.0, 1.0, 1.0]) / np.linalg.norm(np.array([1.0, 1.0, 1.0])) # 定义一个单位向量作为旋转轴的方向 angle = np.radians(np.pi / 4) # 定义旋转角度为45度(弧度制) q = axisangle_to_quaternion(axis, angle) # 将轴角转换为四元数 总结:在处理机器人操作中的旋转时,了解各种旋转表示...
0.2,0.3])q1=quaternion.from_euler('xyz',euler_angles)# 从旋转轴和角度创建四元数axis=np.array([1,0,0])angle=np.pi/4q2=quaternion.from_axis_angle(axis,angle)# 直接指定四元数的四个分量q3=quaternion(1,0,0,0)# 这是一个单位四元数...
groundBody.quaternion.setFromAxisAngle(new CANNON.Vec3(1, 0, 0), -1.5707963267948966) world.add(groundBody) 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 创建平面形状,接着是刚体,这里设置了平面刚体的 mass 为 0,保证刚体处于静止状态。默认情况下平面的方向是朝向 Z 方向的(竖立着),可以通过 B...
The key function isquaternionic.array, which takes nearly the same arguments asnumpy.array, except that whatever array will result must have a final axis of size 4 (and thedtypemust befloat). As long as these conditions are satisfied, we can create new arrays or just reinterpret existing ar...
raise ValueError('Norm of (x, y, z) part of quaternion too close to zero') value[1:4] = value[1:4] / norm * needed_norm # assert abs(np.linalg.norm(value) - 1.0) < _epsilon elif key == 'scaling': value = np.array(value, dtype=np.float32).reshape(3) ...
def test_euler(self): """Test axis-angle and euler representation conversions.""" q1 = Quaternion([0,0,0,0], np.float64) #q1.from_euler(0, 0, 0) #print(q1) #self.assertEqual(q1, Quaternion([1,0,0,0])) for i in range(100): (phi, theta, psi) = self.rand_euler() q1...
rotationMatrix (numpy.ndarray): Computed (3X3) rotation matrix """ angle = float(angle) axis = rotationVector/np.sqrt(np.dot(rotationVector , rotationVector)) a = np.cos(angle/2) b,c,d = -axis*np.sin(angle/2.) return np.array( [ [a*a+b*b-c*c-d*d, 2*(b*c-a*d), 2...
include more type consistancy in Quaternion test added angle and axis of rotation methods to Quaterion class .clang-format modifed some cmake files. clang-format now running on all src..gitignore changed where test binary gets built to .travis.yml still messing with ci/cd configs ...
include more type consistancy in Quaternion Sep 9, 2022 test added angle and axis of rotation methods to Quaterion class Sep 8, 2022 .clang-format modifed some cmake files. clang-format now running on all src. Apr 29, 2022 .gitignore changed where test binary gets built to Jul 5...