Basic RT components and utilities  315.15.0
Classes | Functions | Variables
python.hrpsys_config Namespace Reference

Classes

class  HrpsysConfigurator
 

Functions

def euler_matrix (ai, aj, ak, axes='sxyz')
 
def euler_from_matrix (matrix, axes='sxyz')
 

Variables

 hcf = HrpsysConfigurator()
 

Function Documentation

◆ euler_from_matrix()

def python.hrpsys_config.euler_from_matrix (   matrix,
  axes = 'sxyz' 
)
Return Euler angles from rotation matrix for specified axis sequence.

axes : One of 24 axis sequences as string or encoded tuple

Note that many Euler angle triplets can describe one matrix.

>>> R0 = euler_matrix(1, 2, 3, 'syxz')
>>> al, be, ga = euler_from_matrix(R0, 'syxz')
>>> R1 = euler_matrix(al, be, ga, 'syxz')
>>> numpy.allclose(R0, R1)
True
>>> angles = (4.0*math.pi) * (numpy.random.random(3) - 0.5)
>>> for axes in _AXES2TUPLE.keys():
...    R0 = euler_matrix(axes=axes, *angles)
...    R1 = euler_matrix(axes=axes, *euler_from_matrix(R0, axes))
...    if not numpy.allclose(R0, R1): print axes, "failed"

Referenced by python.hrpsys_config.HrpsysConfigurator.getCurrentRPY(), python.hrpsys_config.HrpsysConfigurator.getReferenceRPY(), and python.hrpsys_config.HrpsysConfigurator.setTargetPoseRelative().

◆ euler_matrix()

def python.hrpsys_config.euler_matrix (   ai,
  aj,
  ak,
  axes = 'sxyz' 
)
Return homogeneous rotation matrix from Euler angles and axis sequence.

ai, aj, ak : Euler's roll, pitch and yaw angles
axes : One of 24 axis sequences as string or encoded tuple

>>> R = euler_matrix(1, 2, 3, 'syxz')
>>> numpy.allclose(numpy.sum(R[0]), -1.34786452)
True
>>> R = euler_matrix(1, 2, 3, (0, 1, 0, 1))
>>> numpy.allclose(numpy.sum(R[0]), -0.383436184)
True
>>> ai, aj, ak = (4.0*math.pi) * (numpy.random.random(3) - 0.5)
>>> for axes in _AXES2TUPLE.keys():
...    R = euler_matrix(ai, aj, ak, axes)
>>> for axes in _TUPLE2AXES.keys():
...    R = euler_matrix(ai, aj, ak, axes)

Referenced by python.hrpsys_config.HrpsysConfigurator.setTargetPoseRelative().

Variable Documentation

◆ hcf

python.hrpsys_config.hcf = HrpsysConfigurator()