q = Quaternion(1, 0, 1, 0) q = q.normalize() print("Normalized Quaternion:", q) R = quaternion_to_rotation_matrix(q) print("Rotation Matrix:\n", R) roll, pitch, yaw = quaternion_to_euler(q) print("Euler Angles:"
在这个代码中: euler_to_quaternion 函数接受三个参数:yaw(偏航角)、pitch(俯仰角)和roll(横滚角),并将它们从度数转换为弧度。 使用三角函数计算四元数的四个分量:w、x、y、z。 最后返回计算得到的四元数。 你可以根据需要修改示例中的欧拉角值,并运行代码来获取对应的四元数。
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...
importnumpyasnpdefeuler_to_rotation_matrix(yaw,pitch,roll):Rz=np.array([[np.cos(yaw),-np.sin(yaw),0],[np.sin(yaw),np.cos(yaw),0],[0,0,1]])Ry=np.array([[np.cos(pitch),0,np.sin(pitch)],[0,1,0],[-np.sin(pitch),0,np.cos(pitch)])Rx=np.array([[1,0,0],[0,np....
该函数的输入为三个欧拉角(Roll,Pitch,Yaw),输出为一个四元数(Quaternion)。 ```python def euler_to_quaternion(roll, pitch, yaw): #将欧拉角转换为旋转矩阵 rotation_matrix = transforms3d.euler.euler2mat(roll, pitch, yaw) #将旋转矩阵转换为四元数 quaternion = transforms3d.quaternions.mat2quat(...
importnumpyasnpdefquaternion_to_euler(quaternion):# 转换四元素为欧拉角q0,q1,q2,q3=quaternion roll=np.arctan2(2*(q0*q1+q2*q3),1-2*(q1**2+q2**2))pitch=np.arcsin(2*(q0*q2-q3*q1))yaw=np.arctan2(2*(q0*q3+q1*q2),1-2*(q2**2+q3**2))returnroll,pitch,yaw ...
q = euler_to_quaternion(roll, pitch, yaw) return rotate_vector_by_quaternion(v_global, quaternion_conjugate(q)) # @njit def body_to_global_vector(v_body, roll, pitch, yaw): q = euler_to_quaternion(roll, pitch, yaw) return rotate_vector_by_quaternion(v_body, q) # @njit def NP_...
Q_c2w = eulerToQuaternion(pitch, yaw, roll); t_c2w={x,y,z}; } return state_; } void publishPose(ros::Publisher& pose_pub, std_msgs::Float64 flag_,Eigen::Quaterniond &quat, Eigen::Vector3d &t) { cv::Mat image_; //std_msgs::Float64 flag_; geometry_msgs::Pose pose_msg;...
void RTQuaternion::toEuler(RTVector3& vec){ vec.setX(atan2(2.0 * (m_data[2] * m_data[3] + m_data[0] * m_data[1]), 1 - 2.0 * (m_data[1] * m_data[1] + m_data[2] * m_data[2]))); vec.setY(asin(2.0 * (m_data[0] * m_data[2] - m_data[1] * m_data[3...
四元数转旋转矩阵:XMMatrixRotationQuaternionmethod -- Builds a rotation matrix from a quaternion. 欧拉角转四元数:XMQuaternionRotationRollPitchYawmethod --Computes a rotation quaternion based on the pitch, yaw, and roll (Euler angles). 四元数转Axis-Angle:XMQuaternionToAxisAnglemethod --Computes an...