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# Quaternion and Euler conversion(s) def quaternion_to_euler(self, x, y, z, w): t0 = +2.0 * (w * x + y * z) t1 = +1.0 - 2.0 * (x * x + y * y) roll = math.atan2(t0, t1) t2 = +2.0 * (w * y - z * x) t2 = +1.0 if t2 > +1.0 else t2 t2 = -1.0 if t2 < -1.0 else t2 pitch = math.asin(t2) t3 = +2.0 * (w * z + x * y) t4 = +1.0 - 2.0 * (y * y + z * z) yaw = math.atan2(t3, t4) print("RPY: {} {} {}".format(roll,pitch,yaw)) return [roll,pitch,yaw] def euler_to_quaternion(self, roll, pitch, yaw): qx = np.sin(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) - np.cos(roll/2) * np.sin(pitch/2) * np.sin(yaw/2) qy = np.cos(roll/2) * np.sin(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.cos(pitch/2) * np.sin(yaw/2) qz = np.cos(roll/2) * np.cos(pitch/2) * np.sin(yaw/2) - np.sin(roll/2) * np.sin(pitch/2) * np.cos(yaw/2) qw = np.cos(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.sin(pitch/2) * np.sin(yaw/2) print("Quaternion: {} {} {} {}".format(qx, qy, qz, qw)) return [qx, qy, qz, qw]
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