python实现ZYX顺序欧拉角和旋转矩阵的相互转换

我们可以使用NumPy和scipy库来实现Python中ZYX顺序欧拉角和旋转矩阵的相互转换。下面是一个示例代码，展示了如何将旋转矩阵转换为欧拉角：

import numpy as np
from scipy.spatial.transform import Rotation as R

def rotation_matrix_to_euler_angles(rotation_matrix):
    r = R.from_matrix(rotation_matrix)
    euler_angles = r.as_euler('zyx', degrees=True)
    return euler_angles

# 示例旋转矩阵
rotation_matrix = np.array([
    [0.8660254, -0.5 , 0. ],
    [0.5 , 0.8660254, 0. ],
    [0. , 0. , 1. ]
])

euler_angles = rotation_matrix_to_euler_angles(rotation_matrix)
print(euler_angles)

如果你想将欧拉角转换为旋转矩阵，我们可以使用下面的代码来实现：

import numpy as np
import math

def euler_angles_to_rotation_matrix(roll, pitch, yaw):
    R_z = np.array([
        [math.cos(yaw), -math.sin(yaw), 0],
        [math.sin(yaw), math.cos(yaw), 0],
        [0, 0, 1]
    ])
    R_y = np.array([
        [math.cos(pitch), 0, math.sin(pitch)],
        [0, 1, 0],
        [-math.sin(pitch), 0, math.cos(pitch)]
    ])
    R_x = np.array([
        [1, 0, 0],
        [0, math.cos(roll), -math.sin(roll)],
        [0, math.sin(roll), math.cos(roll)]
    ])
    R = np.dot(R_z, np.dot(R_y, R_x))
    return R

# 示例欧拉角
roll = 45
pitch = 30
yaw = 60

rotation_matrix = euler_angles_to_rotation_matrix(roll, pitch, yaw)
print(rotation_matrix)

这些代码可以帮助你在Python中进行ZYX顺序欧拉角和旋转矩阵的相互转换。请根据实际情况进行调整和使用。<span class="em">1</span><span class="em">2</span><span class="em">3</span>
#### 引用[.reference_title]
- *1* *3* [四元数，欧拉角，旋转矩阵相互转换以及矩阵求逆合集（C++和python）](https://blog.csdn.net/Will_Ye/article/details/127498034)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v92^chatsearchT3_1"}}] [.reference_item style="max-width: 50%"]
- *2* [用python 写一个旋转矩阵转欧拉角的程序](https://blog.csdn.net/kangzengxin/article/details/130977331)[target="_blank" data-report-click={"spm":"1018.2226.3001.9630","extra":{"utm_source":"vip_chatgpt_common_search_pc_result","utm_medium":"distribute.pc_search_result.none-task-cask-2~all~insert_cask~default-1-null.142^v92^chatsearchT3_1"}}] [.reference_item style="max-width: 50%"]
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