importnumpyasnpfromnumpy_quaternionimportquaternion# 从欧拉角创建四元数euler_angles=np.array([0.1,0.2,0.3])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=quat...
yaw = -1.5 #绕Z轴的旋转角度 q = euler_to_quaternion(roll, pitch, yaw) # 将欧拉角转换为四元数 四元数与轴角的转换:轴角表示法基于绕着某个轴的旋转角度。要将四元数转换为轴角,我们可以使用以下代码: q = quaternion(0.70710678, 0.70710678, 0.0, 0.0) # 创建一个四元数 axis, angle = q.ax...
euler = tf.transformations.euler_from_quaternion([self.pose.orientation.x,self.pose.orientation.y,self.pose.orientation.z,self.pose.orientation.w]) goalYaw = numpy.arctan2(errY,errX) errYaw = goalYaw-euler[2] errYaw = numpy.arctan2(numpy.sin(errYaw),numpy.cos(errYaw)) w = -self.Kp...
使用四元数_to_Euler函数将四元数转换为EulerAngular ：
the rotation, with norm proportional to the angle of the rotation in radians. """returnas_float_array(2*np.log(np.normalized(q)))[...,1:] 开发者ID:moble,项目名称:quaternion,代码行数:22,代码来源:__init__.py 示例3: from_rotation_vector ...
Finally, it is possible to derive the Euler angles from a quaternion using as_euler_angles, or create a quaternion from Euler angles using from_euler_angles— though be aware that Euler angles are basically the worst things ever.1 Before you complain about those functions using something other...
to_euler_phases,from_euler_phases(see above) to_spherical_coordinates,from_spherical_coordinates to_angular_velocity,from_angular_velocity to_minimal_rotation Note that the last two items relate to quaternion-valued functions of time. Converting to an angular velocity requires differentiation, while con...
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...
或者，将所需的模块复制到项目中）。要使用pip安装GitHub存储库，您可以按照here的说明进行操作。
或者，将所需的模块复制到项目中）。要使用pip安装GitHub存储库，您可以按照here的说明进行操作。