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-...
import numpy as np import quaternion as q theta = np.pi * 1.0 / 3.0 phi = 0.0 print(q.from_spherical_coords(theta,phi)) 印出 (quaternion(0.866025403784439, -0, 0.5, 0)) 这个四元数是围绕Y轴旋转60度,但我预计只绕Z轴旋转60度,因为phi是0.0。对于源文件,θ和phi是否发生了变化,还是我遗漏...
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 importunwrap[as 别名]defact(self, obs):quad_to_obj_pos, quad_to_obj_rot = obs[:2] quad_to_obj_T = transformations.quaternion_matrix(np.r_[quad_to_obj_rot[3], quad_to_obj_rot[:3]]) ...
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, we would write q2=quaternionic.array.from_rotation_matrix(m) ...
>>> import numpy as np >>> import quaternion >>> a = np.array([quaternion.one, quaternion.x, quaternion.y, quaternion.z]) >>> np.conjugate(a) # This gives the correct output array([quaternion(1, -0, -0, -0), quaternion(0, -1, -0, -0), quaternion(0, -0, -1, -0),...
浏览完整代码 来源:QuaternionFactory.py 项目:gchevrot/Screwfit示例3def diagonalization(self): """Returns the eigenvalues of a rank-2 tensor and a tensor representing the rotation matrix to the diagonalized form.""" if self.rank == 2: from numpy.oldnumeric.linear_algebra import eigenvectors ev...
GLM - matrix from orientation是否正在创建行主要矩阵而不是列主要矩阵? 、、 在找出我之前的答案后,我发现原因是某种数学上的奇怪之处。我使用GLM (OpenGL)库创建了一个方向,如下所示 glm::gtx::quaternion::orientation = glm::gtx::quaternion::angleAxis(pitchAccum, 1.0f, 0.0f, 0.0f) * glm::gtx::...