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commands_used.txt
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import numpy
import tf.transformations
from math import pi
help(tf.transformations)
alpha, beta, gamma = pi/3, pi/6, 0
I = identity_matrix()
I = tf.transformations.identity_matrix()
origin, xaxis, yaxis, zaxis = (0, 0, 0), (1, 0, 0), (0, 1, 0), (0, 0, 1)
Ry = tf.transormations.rotation_matrix(alpha, yaxis)
Ry = tf.transformations.rotation_matrix(alpha, )
Rz_prime = tf.transformations.rotation_matrix(-beta, zaxis)
Ry90 = tf.transformations.rotation_matrix(pi/2, yaxis)
Rz90 = tf.transformations.rotation_matrix(pi/2, zaxis)
tf.transformations.concatenate_matrices(Ry90, Rz90)
tf.transformations.concatenate_matrices(Rz90, Ry90)
tf.transformations.concatenate_matrices(Ry90, Rz90)
tf.transformations.concatenate_matrices(Ry, Rz_prime)
rr = tf.transformations.concatenate_matrices(Ry, Rz_prime)
help(tf.transformations)
euler_from_matrix(rr, 'rxyz')
tf.transformations.euler_from_matrix(rr, 'rxyz')
tf.transformations.euler_from_matrix(rr, 'rzyx')
tf.transformations.euler_from_matrix(rr, 'rzyx')
help(numpy.ndarray)
rr.shape
rr[:3, :3]
unity = numpy.array([[1., 0, 0], [0, 1., 0], [0., 0., 1.]])
unity / rr[:3, :3]
rr[:3, :3]
numpy.linalg.inv(rr[:3, :3])
numpy.linalg.inv(rr[:3, :3]) * numpy.array( [ 1, 0, 0])
help(numpy)
numpy.linalg.inv(rr[:3, :3]).dot( numpy.array( [ 1, 0, 0]))
numpy.linalg.inv(rr[:3, :3])
rr[:3, :3]
tf.transformations(pi/2, xaxis)
tf.transformations.rotation_matrix(pi/2, xaxis)
tf.transformations.rotation_matrix(pi/2, xaxis)[:3, :3]
rx90 = tf.transformations.rotation_matrix(pi/2, xaxis)[:3, :3]
rx90
rx90.dot(numpy.linalg.inv(rr[:3, :3]))
tf.transformations.euler_from_matrix(rx90.dot(numpy.linalg.inv(rr[:3, :3])), 'rzyx')
tf.transformations.euler_from_matrix(numpy.linalg.inv(rr[:3, :3]).dot(rx90), 'rzyx')
numpy.linalg.inv(rr[:3, :3])
tf.transformations.euler_from_matrix(numpy.linalg.inv(rr[:3, :3]), 'rzyx')
rxm90 = tf.transformations.rotation_matrix(-pi/2, xaxis)
tf.transformations.euler_from_matrix(numpy.linalg.inv(rr[:3, :3]).dot(rx90), 'rzyx')
tf.transformations.euler_from_matrix(numpy.linalg.inv(rr[:3, :3]).dot(rxm90), 'rzyx')
rxm90 = tf.transformations.rotation_matrix(-pi/2, xaxis)[:3,:3]
tf.transformations.euler_from_matrix(numpy.linalg.inv(rr[:3, :3]).dot(rxm90), 'rzyx')
rzm90 = tf.transformations.rotation_matrix(-pi/2, zaxis)[:3,:3]
rz90 = tf.transformations.rotation_matrix(pi/2, zaxis)[:3,:3]
tf.transformations.euler_from_matrix(numpy.linalg.inv(rr[:3, :3]).dot(rz90), 'rzyx')