print("Rotation Matrix:\n", R) roll, pitch, yaw = quaternion_to_euler(q) print("Euler Angles:", roll, pitch, yaw) axis, angle = quaternion_to_axis_angle(q) print("Axis-Angle:", axis, angle) q_from_R = rotation_matrix_to_quaternion(R) print("Quaternion from Rotation Matrix:", ...
e_to_ix = cmath.exp(complex(0, x)) # 手动计算 cos(x) + i*sin(x) 以验证结果 cos_x = math.cos(x) sin_x = math.sin(x) cos_plus_i_sin = complex(cos_x, sin_x) return e_to_ix, cos_plus_i_sin 示例:计算 e^(i*pi) x = math.pi result = euler_formula(x) print(f"...
python import numpy as np def euler_to_rotation_matrix(z_angle, y_angle, x_angle): #绕Z轴旋转的矩阵 Rz = np.array([ [np.cos(z_angle), -np.sin(z_angle), 0], [np.sin(z_angle), np.cos(z_angle), 0], [0, 0, 1] ]) #绕Y轴旋转的矩阵 Ry = np.array([ [np.cos(y_a...
四元数转旋转矩阵:XMMatrixRotationQuaternion method -- Builds a rotation matrix from a quaternion. 欧拉角转四元数:XMQuaternionRotationRollPitchYaw method --Computes a rotation quaternion based on the pitch, yaw, and roll (Euler angles). 四元数转Axis-Angle:XMQuaternionToAxisAngle method --Computes...
Calculates Rotation Matrix given euler angles. :param theta: 1-by-3 list [rx, ry, rz] angle in degree :return: RPY角,是ZYX欧拉角,依次 绕定轴XYZ转动[rx, ry, rz] """ if format is 'degree': theta = [i * math.pi / 180.0 for i in theta] ...
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.axisangle() # 将四元数转换为轴...
# convert rotation quaternion to Euler angle forces u_task[3:] = ko * q_r[1:] * np.sign(q_r[0]) NOTE: You will run into issues when the angle is crossed where the arm ‘goes the long way around’. To account for this, use q_r[1:] * np.sign(q_r[0]). This will make...
# 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: ...
1,文章目的 由于最近论文需要补实验,这里研究一下基于MPC的四旋翼运动控制 2,效果展示 3,代码 importtimeimportcontrolimportmathimportscipy.iofromnumpy.linalgimportinvimportscipy.integratefromscipy.spatial.transformimportRotationimportcsvimportnumpy.linalgasLAimportnumpyasnpimportcvxpyascpimportmatplotlib.pyplotasplt#...
EulerAngle+float roll+float pitch+float yaw+to_rotation_matrix()CoordinateSystem+float x+float y+float z+transform() 接下来,我们回顾一下不同状态下的坐标转换过程。我们可以用状态图来表示这种变化,显示当旋转角度变化时,相应坐标的转换状态: input_euler_anglecalculate_rotation_matrixapply_transformationIdle...