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,将四元数转换为旋转轴和角度。
# 将四元数转换为旋转矩阵rotation_matrix=q.to_matrix() 异常处理 在使用numpy-quaternion库时,可能会遇到一些异常。例如,如果尝试创建一个四元数的虚部分量超出了[-1, 1]的范围,就会引发InvalidQuaternion异常。处理这些异常的方法是使用try-except语句: try:# 尝试创建一个四元数invalid_q=quaternion(1,2,3,...
该题最终的代码为 importnumpyasnpimportmathfromscipy.spatial.transformimportRotationasRdefquaternion2rot(quaternion):r=R.from_quat(quaternion)rot=r.as_matrix()returnrotdefquaternion_to_rotation_matrix(q):w,x,y,z=qreturn2*np.array([[0.5-y**2-z**2,x*y-z*w,x*z+y*w],[x*y+z*w,0.5-...
R = q.rotation_matrix() # 将四元数转换为旋转矩阵 要将旋转矩阵转换为四元数,我们可以使用以下代码: R = np.array([[0.70710678, -0.70710678, 0.0], [0.70710678, 0.70710678, 0.0], [0.0, 0.0, 1.0]]) # 创建一个旋转矩阵 q = rotation_matrix_to_quaternion(R) # 将旋转矩阵转换为四元数 四元...
q1=quaternionic.array(np.random.rand(100,4)).normalizedm=q1.to_rotation_matrix to obtain the matrixmfroma quaternionic arrayq1. (Here,mis actually a series of 100 3x3 matrices corresponding to the 100 quaternions inq1.) On the other hand, to obtain a quaternionic array from some matrixm...
It is also possible to convert a quaternion to or from a 3x3 array of floats representing a rotation matrix, or an array of N quaternions to or from an Nx3x3 array of floats representing N rotation matrices, using as_rotation_matrix and from_rotation_matrix. Similar conversions are possible...
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) ...
the normal, and creates a rotation matrix from v0, v1, and the normal; then converts this rotation matrix to a quaternion """v0, v1 = np.array(v0), np.array(v1) v0 = v0 / np.linalg.norm(v0) v1 = v1 / np.linalg.norm(v1) ...
# 需要导入模块: import numpy [as 别名]# 或者: from numpy importnorm[as 别名]defas_rotation_matrix(q):"""Convert input quaternion to 3x3 rotation matrix Parameters --- q: quaternion or array of quaternions The quaternion(s) need not be normalized, but must all be nonzero Returns --...
matrix([q_phi, q_theta, q_psi]) #print(r1- r1q) self.assertTrue(np.linalg.norm(r1 - r1q) < 1e-10) 浏览完整代码 来源:Quaternion.py 项目:pchokanson/atlas-sim 示例4 def test_mult_simple(self): tempa = [[1,0,0],[0,1,0],[0,0,1]] self.a = matlib.matrix(tempa) self...