python rotational matrix to euler angle
时间: 2023-09-24 19:10:48 浏览: 47
Here is an example Python code to convert a rotational matrix to Euler angles:
```python
import math
import numpy as np
def matrix_to_euler(matrix):
"""Converts a rotational matrix to Euler angles in radians."""
sy = math.sqrt(matrix[0, 0] * matrix[0, 0] + matrix[1, 0] * matrix[1, 0])
singular = sy < 1e-6
if not singular:
x = math.atan2(matrix[2, 1], matrix[2, 2])
y = math.atan2(-matrix[2, 0], sy)
z = math.atan2(matrix[1, 0], matrix[0, 0])
else:
x = math.atan2(-matrix[1, 2], matrix[1, 1])
y = math.atan2(-matrix[2, 0], sy)
z = 0
return np.array([x, y, z])
```
This function takes a 3x3 rotation matrix as input and returns an array of Euler angles in radians. The `sy` variable is used to determine whether the matrix is singular (i.e., has no unique solution for the Euler angles). If the matrix is not singular, the `x`, `y`, and `z` variables are calculated using the `atan2` function. If the matrix is singular, the `x` and `y` variables are calculated differently, and the `z` variable is set to zero.