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...
to_rotation_matrix,from_rotation_matrix to_transformation_matrix(for non-unit quaternions) to_axis_angle,from_axis_angle to_euler_angles,from_euler_angles(though using Euler angles is almost always a bad idea) to_euler_phases,from_euler_phases(see above) ...
Similar conversions are possible for rotation vectors using as_rotation_vector and from_rotation_vector, and for spherical coordinates using as_spherical_coords and from_spherical_coords. Finally, it is possible to derive the Euler angles from a quaternion using as_euler_angles, or create a ...
def rotation_matrix_3D(u, th): """ rotation_matrix_3D(u, t) yields a 3D numpy matrix that rotates any vector about the axis u t radians counter-clockwise. """ # normalize the axis: u = normalize(u) # We use the Euler-Rodrigues formula; # see https://en.wikipedia.org/wiki/Eule...
numpy-quaternion库是一个强大的工具，它使得在NumPy环境中处理四元数变得简单高效。本文将引导初学者了解...
rotation vectors usingas_rotation_vectorandfrom_rotation_vector, and for spherical coordinates usingas_spherical_coordsandfrom_spherical_coords. Finally, it is possible to derive the Euler angles from a quaternion usingas_euler_angles, or create a quaternion from Euler angles usingfrom_euler_angles—...