robopal.commons.transform module

robopal.commons.transform.euler_2_mat(euler)

Converts euler angles(format in xyz) into rotation matrix form.

参数:

euler -- 1*3 euler angles

返回:

3*3 rotation matrix

robopal.commons.transform.euler_2_quat(rpy, degrees: bool = False)

degrees:bool True is the angle value, and False is the radian value

robopal.commons.transform.make_transform(pos=None, rot=None) → ndarray

concatenate both 1*3 or 3*1 position array and 3*3 rotation matrix

to a 4*4 transform matrix

E.g.: >>> T = make_transform(np.zeros(3), np.zeros(shape=(3, 3)))

参数:

• pos -- 1*3 position

• rot -- 3*3 rotation

返回:

4*4 transform

robopal.commons.transform.mat_2_euler(mat)

Converts rotation matrix into euler angles(format in xyz).

参数:

mat -- 3*3 rotation matrix

返回:

1*3 euler angles

robopal.commons.transform.mat_2_quat(mat)

The rotation vector modulus is the angle Not using the Rodriguez formula

参数:

mat -- 3*3 rotation matrix

返回:

1*4 quaternion

robopal.commons.transform.mat_2_vec(mat)

Converts rotation matrix into rotation vector form.

参数:

mat -- 3*3 rotation matrix

返回:

1*3 rotation vector

robopal.commons.transform.quat_2_euler(quaternion)

Converts quaternion into euler angles(format in xyz).

参数:

quaternion -- 1*4 quaternion

返回:

1*3 euler angles

robopal.commons.transform.quat_2_mat(quaternion)

The rotation vector modulus is the angle Not using the Rodriguez formula

参数:

quaternion -- 1*4 quaternion

返回:

3*3 rotation matrix

robopal.commons.transform.vec2_mat(vec)

The rotation vector modulus is the angle Not using the Rodriguez formula

When calculating the rotation matrix, it is necessary to normalize the rotation vector into a unit vector, calculate the four components of the quaternion according to the formula, and then convert the quaternion into a rotation matrix.

robopal.commons.transform.vec_2_euler(vec)

Converts rotation vector into euler angles(format in xyz).

参数:

vec -- 1*3 rotation vector

返回:

1*3 euler angles