1. np.linalg.inv(): 计算矩阵的逆。 inverse_matrix = np.linalg.inv(matrix) 1.
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...
#include <tf/tf.h> tf::Quaternion q; q.setRPY(roll, pitch, yaw); #create ros msg tf::Quaternion createQuaternionFromRPY(double roll,double pitch,double yaw) PYTHON def rpy2quaternion(roll, pitch, yaw): x=sin(pitch/2)sin(yaw/2)cos(roll/2)+cos(pitch/2)cos(yaw/2)sin(roll/2) y...
(idl.IdlStruct, typename="unitree_go.msg.dds_.IMUState_"): quaternion: types.array[types.float32, 4] gyroscope: types.array[types.float32, 3] accelerometer: types.array[types.float32, 3] rpy: types.array[types.float32, 3] temperature: types.uint8 """ print(f"\n\n[INFO] Read ...
python 使用PyKDL 四元数转欧拉角 安装: sudo apt-getinstall ros-indigo-kdl-parser-py 使用: import PyKDL import math def quat_to_angle(quat): rot=PyKDL.Rotation.Quaternion(quat.x, quat.y, quat.z, quat.w)returnrot.GetRPY()[2] def normalize_angle(angle):...
def quat_to_angle(quat): rot=PyKDL.Rotation.Quaternion(quat.x, quat.y, quat.z, quat.w)returnmap(normalize_angle,rot.GetRPY()) def normalize_angle(angle): res=anglewhileres >math.pi: res-=2.0*math.piwhileres < -math.pi: res+=2.0*math.pireturnres ...
UnitQuaternionbelonging to the group$\mathbf{S}^3$for orientation in 3-dimensions Twist3vectors belonging to the group$\mathbf{se}(3)$for pose in 3-dimensions UnitDualQuaternionmaps to the group$\mathbf{SE}(3)$for position and orientation (pose) in 3-dimensions ...
SO3 matrices belonging to the group SO ( 3 ) for orientation in 3-dimensions UnitQuaternion belonging to the group S 3 for orientation in 3-dimensions Twist3 vectors belonging to the group se ( 3 ) for pose in 3-dimensions UnitDualQuaternion maps to the group SE ( 3 ) for position an...
python解析.pyd⽂件的详细代码 有的时候，为了对python⽂件进⾏加密，会把python模块编译成.pyd⽂件，供其他⼈调⽤。拿到⼀个.pyd⽂件，在没有⽂档说明的情况下，可以试试查看模块内的⼀些函数和类的⽤法。⾸先 import XXX（pyd的⽂件名)然后直接 print(dir(XXX))print(help(xxx))其中...
/usr/bin/env python'''Author: xushangnjlh at gmail dot comDate: 2017/05/23@package odometry_forward_and_back'''import rospyfrom geometry_msgs.msg import Twist, Point, Quaternionimport tffrom rbx1_nav.tranform_utils import quat_to_angle, normalize_anglefrom math import pi, radian...