本文整理汇总了Python中Quaternion.q_rotVecToRotMat方法的典型用法代码示例。如果您正苦于以下问题：Python Quaternion.q_rotVecToRotMat方法的具体用法？Python Quaternion.q_rotVecToRotMat怎么用？Python Quaternion.q_rotVecToRotMat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_rotVecToRotMat方法的1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_rotVecToRotMat [as 别名]
def test_QuaternionClass(self):
v1 = np.array([0.1, -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 and RotMat ###########################
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 RotMat ###########################
np.testing.assert_almost_equal(Quaternion.q_rotMatToQuat(Quaternion.q_toRotMat(q1)), q1, 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 Exp and RotMat ###########################
np.testing.assert_almost_equal(Quaternion.q_rotVecToRotMat(v1), Quaternion.q_toRotMat(Quaternion.q_exp(v1)), decimal=7)
########################### Testing mult/exp/rotate ###########################
np.testing.assert_almost_equal(Quaternion.q_mult(q1, Quaternion.q_mult(Quaternion.q_exp(v2),Quaternion.q_inverse(q1))),Quaternion.q_exp(Quaternion.q_rotate(q1, v2)), 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)
########################### Testing Jacobian of Exp ###########################
for i in np.arange(0,3):
dv1 = np.array([0.0, 0.0, 0.0])
dv1[i] = 1.0
epsilon = 1e-6
q1 = Quaternion.q_exp(v1)
q1_dist = Quaternion.q_exp(v1+dv1*epsilon)
dq1_1 = Quaternion.q_boxMinus(q1_dist, q1)/epsilon
J = np.resize(Quaternion.q_rotVecToGamma(v1),(3,3))
dq1_2 = J.dot(dv1)
np.testing.assert_almost_equal(dq1_1,dq1_2, decimal=5)