ode_utils.py

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#  \author Marc Killpack (Healthcare Robotics Lab, Georgia Tech.)
#  \author Advait Jain (Healthcare Robotics Lab, Georgia Tech.)

# ODE - Open Dynamics Engine.

import numpy as np, math

import roslib
roslib.load_manifest('hrl_lib')


# take ODE's rotation (as returned by getRotation) and convert to a
# rotation matrix.
def ode_rotation_to_matrix(rot):
    rot_mat = np.matrix([[rot[0], rot[4], rot[8]],
                         [rot[1], rot[5], rot[9]],
                         [rot[2], rot[6], rot[10]]])
    return rot_mat