本文整理汇总了Python中Quaternion.q_Lmat方法的典型用法代码示例。如果您正苦于以下问题：Python Quaternion.q_Lmat方法的具体用法？Python Quaternion.q_Lmat怎么用？Python Quaternion.q_Lmat使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类Quaternion的用法示例。
在下文中一共展示了Quaternion.q_Lmat方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: test_QuaternionClass
# 需要导入模块: import Quaternion [as 别名]
# 或者: from Quaternion import q_Lmat [as 别名]
def test_QuaternionClass(self):
v1 = np.array([0.2, 0.2, 0.4])
v2 = np.array([1, 0, 0])
q1 = Quaternion.q_exp(v1)
q2 = Quaternion.q_exp(v2)
v=np.array([1, 2, 3])
# Testing Mult and rotate
np.testing.assert_almost_equal(Quaternion.q_rotate(Quaternion.q_mult(q1,q2),v), Quaternion.q_rotate(q1,Quaternion.q_rotate(q2,v)), decimal=7)
np.testing.assert_almost_equal(Quaternion.q_rotate(q1,v2), np.resize(Quaternion.q_toRotMat(q1),(3,3)).dot(v2), decimal=7)
# Testing Boxplus, Boxminus, Log and Exp
np.testing.assert_almost_equal(Quaternion.q_boxPlus(q1,Quaternion.q_boxMinus(q2,q1)), q2, decimal=7)
np.testing.assert_almost_equal(Quaternion.q_log(q1), v1, decimal=7)
# Testing Lmat and Rmat
np.testing.assert_almost_equal(Quaternion.q_mult(q1,q2), Quaternion.q_Lmat(q1).dot(q2), decimal=7)
np.testing.assert_almost_equal(Quaternion.q_mult(q1,q2), Quaternion.q_Rmat(q2).dot(q1), decimal=7)
# Testing ypr and quat
roll = 0.2
pitch = -0.5
yaw = 2.5
q_test = Quaternion.q_mult(np.array([np.cos(0.5*pitch), 0, np.sin(0.5*pitch), 0]),np.array([np.cos(0.5*yaw), 0, 0, np.sin(0.5*yaw)]))
q_test = Quaternion.q_mult(np.array([np.cos(0.5*roll), np.sin(0.5*roll), 0, 0]),q_test)
np.testing.assert_almost_equal(Quaternion.q_toYpr(q_test), np.array([roll, pitch, yaw]), decimal=7)
# Testing Jacobian of Ypr
for i in np.arange(0,3):
dv1 = np.array([0.0, 0.0, 0.0])
dv1[i] = 1.0
epsilon = 1e-6
ypr1 = Quaternion.q_toYpr(q1)
ypr1_dist = Quaternion.q_toYpr(Quaternion.q_boxPlus(q1,dv1*epsilon))
dypr1_1 = (ypr1_dist-ypr1)/epsilon
J = np.resize(Quaternion.q_toYprJac(q1),(3,3))
dypr1_2 = J.dot(dv1)
np.testing.assert_almost_equal(dypr1_1,dypr1_2, decimal=5)示例2: calibrateBodyTransform
# 需要导入模块: import Quaternion [as 别名]
# 或者: from Quaternion import q_Lmat [as 别名]
def calibrateBodyTransform(self, vel1, ror1, other, vel2, ror2):
velID1 = self.getColIDs(vel1)
rorID1 = self.getColIDs(ror1)
velID2 = other.getColIDs(vel2)
rorID2 = other.getColIDs(ror2)
# Make timing calculation
dt1 = self.getLastTime()-self.getFirstTime()
dt2 = other.getLastTime()-other.getFirstTime()
first = max(self.getFirstTime(),other.getFirstTime())
last = min(self.getLastTime(),other.getLastTime())
timeIncrement = min(dt1/(self.length()-1), dt2/(other.length()-1))
td1 = TimedData(7);
td2 = TimedData(7);
td1.initEmptyFromTimes(np.arange(first,last,timeIncrement))
td2.initEmptyFromTimes(np.arange(first,last,timeIncrement))
self.interpolateColumns(td1, velID1, [1,2,3])
self.interpolateColumns(td1, rorID1, [4,5,6])
other.interpolateColumns(td2, velID2, [1,2,3])
other.interpolateColumns(td2, rorID2, [4,5,6])
AA = np.zeros([4,4])
# TODO: Speed up by removing for loop
for i in np.arange(0,td1.length()):
q1 = np.zeros(4)
q2 = np.zeros(4)
q1[1:4] = td1.D()[i,4:7];
q2[1:4] = td2.D()[i,4:7];
A = Quaternion.q_Rmat(q1)-Quaternion.q_Lmat(q2)
AA += A.T.dot(A)
w, v = np.linalg.eigh(AA)
rotation = v[:,0]
# Find transformation
A = np.zeros([3*td1.length(),3])
b = np.zeros([3*td1.length()])
for i in np.arange(0,td1.length()):
A[3*i:3*i+3,] = np.resize(Utils.skew(td1.D()[i,4:7]),(3,3))
b[3*i:3*i+3] = Quaternion.q_rotate(Quaternion.q_inverse(rotation), td2.D()[i,1:4])-td1.D()[i,1:4]
translation = np.linalg.lstsq(A, b)[0]
return translation, rotation