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...
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-...
I am currently using this package with default numpy 1.12 on RPi (debian stretch) and this seems to work for what I need (from_rotation_matrix, rotate_vectors). What are 1.13 specific features, that could cause an error?Activitymoble commented on May 16, 2019 moble on May 16, 2019· ...
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) ...
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, usingas_rotation_matrixandfrom_rotation_matrix. Similar conversions are possible for...
'quaternion_conjugate', 'quaternion_from_euler', 'quaternion_from_matrix', 'quaternion_inverse', 'quaternion_matrix', 'quaternion_multiply', 'quaternion_slerp', 'random_quaternion', 'random_rotation_matrix', 'random_vector', 'reflection_from_matrix', 'reflection_matrix', 'rotation_from_matrix',...
浏览完整代码 来源:Quaternion.py 项目:pchokanson/atlas-sim示例4def test_mult_simple(self): tempa = [[1,0,0],[0,1,0],[0,0,1]] self.a = matlib.matrix(tempa) self.b = matlib.matrix(tempa) self.c = matlib.matrix(tempa) self.d = multiplierMatrice(self.a, self.b) self.assert...
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...