python::hrpsys_config Namespace Reference

## Classes

class  HrpsysConfigurator

## Functions

def euler_from_matrix
def euler_matrix

## Variables

dictionary _AXES2TUPLE
tuple _EPS = numpy.finfo(float)
list _NEXT_AXIS = [1, 2, 0, 1]
tuple hcf = HrpsysConfigurator()

## Function Documentation

 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"

```

Definition at line 101 of file hrpsys_config.py.

 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)

```

Definition at line 38 of file hrpsys_config.py.

## Variable Documentation

Initial value:
```00001 {
00002     'sxyz': (0, 0, 0, 0), 'sxyx': (0, 0, 1, 0), 'sxzy': (0, 1, 0, 0),
00003     'sxzx': (0, 1, 1, 0), 'syzx': (1, 0, 0, 0), 'syzy': (1, 0, 1, 0),
00004     'syxz': (1, 1, 0, 0), 'syxy': (1, 1, 1, 0), 'szxy': (2, 0, 0, 0),
00005     'szxz': (2, 0, 1, 0), 'szyx': (2, 1, 0, 0), 'szyz': (2, 1, 1, 0),
00006     'rzyx': (0, 0, 0, 1), 'rxyx': (0, 0, 1, 1), 'ryzx': (0, 1, 0, 1),
00007     'rxzx': (0, 1, 1, 1), 'rxzy': (1, 0, 0, 1), 'ryzy': (1, 0, 1, 1),
00008     'rzxy': (1, 1, 0, 1), 'ryxy': (1, 1, 1, 1), 'ryxz': (2, 0, 0, 1),
00009     'rzxz': (2, 0, 1, 1), 'rxyz': (2, 1, 0, 1), 'rzyz': (2, 1, 1, 1)}
```

Definition at line 21 of file hrpsys_config.py.

 tuple python::hrpsys_config::_EPS = numpy.finfo(float)

Definition at line 35 of file hrpsys_config.py.

 list python::hrpsys_config::_NEXT_AXIS = [1, 2, 0, 1]

Definition at line 32 of file hrpsys_config.py.

 tuple python::hrpsys_config::hcf = HrpsysConfigurator()

Definition at line 2313 of file hrpsys_config.py.

hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed May 15 2019 05:02:21