https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation 例子: >>>fromscipy.spatial.transformimportRotationasR>>>importnumpyasnp 表示单次旋转: >>>r = R.from_matrix([[0,-1,0],...[1,0,0],...[0,0,1]])>>>r.as_quat()
在scipy中,四元数的顺序是**[w, x, y, z]**,其中w是实部,x, y, z是虚部。 具体来说,scipy.spatial.transform.Rotation类中的from_quat方法接受一个四元数数组作为参数,该数组的顺序是[w, x, y, z]。例如: python from scipy.spatial.transform import Rotation as R # 定义一个四元数,顺序为 [...
问scipy.spatial.transform.Rotation旋转阵列与同一对象内的堆栈EN堆内存是被多个线程共享的，而栈内存是线...
整理的完整代码如下: importscipy.spatial.transformasst# 生成随机四元素rotation_matrix=st.random_rotation_matrix()quaternion=st.Rotation.from_matrix(rotation_matrix).as_quat()# 四元素转欧拉角euler_angles=st.Rotation.from_quat(quaternion).as_euler('xyz',degrees=True)print('欧拉角结果:',euler_angles)...
scipy/spatial/transform/_rotation.pyx Outdated @@ -2945,6 +2957,9 @@ cdef class Rotation: >>> r.mean().as_euler('zyx', degrees=True) array([0.24945696, 0.25054542, 0.24945696]) """ if self._quat.shape[0] == 0: raise RuntimeWarning("Mean of empty rotation.") Contributor...
When calling the len() function on the scipy.spatial.transform.rotation.Rotation object with exactly one rotation, it currently raises a TypeError instead of returning 1. (Link to source code) Reproducing code example: from scipy.spatial.transform import Rotation as R r = R.from_quat([1, 0...
from scipy.spatial.transform import Rotation as R 接下来,我们可以定义两个单位四元数,分别代表起始姿态(q1)和目标姿态(q2): python q1 = np.array([1, 0, 0, 0]) #起始姿态 q2 = np.array([0, 1, 0, 0]) #目标姿态 注意,单位四元数是一个四维向量,其中第一个元素是实部,后面三个元素是虚部...
简单scipy.spatial.transform.Rotation.align_vectors测试脚本未返回正确的旋转可能有一种方法可以解决这个...
print(f"Interpolation {i}: {interpolation.as_quat()}") 在上述示例中,我们首先使用scipy.spatial.transform.Rotation类创建了起始和结束的四元数r0和r1。然后,我们设定了插值的步骤数steps。通过循环,我们使用scipy.slerp函数来进行球面线性插值,并将插值结果保存在interpolations列表中。最后,我们打印了所有插值结果...
scipy.spatialimprovements Rotationsupports an alternative "scalar-first" convention of quaternion component ordering. It is available via the keyword argumentscalar_first offrom_quatandas_quatmethods. Some minor performance improvements for inverting ofRotationobjects. ...