欧拉角与方位余弦阵之间的转换 python代码

以下是欧拉角与方位余弦阵之间的转换的 Python 代码：

import numpy as np

# 将欧拉角转换为方位余弦阵
def euler_to_dcm(roll, pitch, yaw):
    cos_roll = np.cos(roll)
    sin_roll = np.sin(roll)
    cos_pitch = np.cos(pitch)
    sin_pitch = np.sin(pitch)
    cos_yaw = np.cos(yaw)
    sin_yaw = np.sin(yaw)

    R_x = np.array([[1, 0, 0],
                   [0, cos_roll, -sin_roll],
                   [0, sin_roll, cos_roll]])

    R_y = np.array([[cos_pitch, 0, sin_pitch],
                   [0, 1, 0],
                   [-sin_pitch, 0, cos_pitch]])

    R_z = np.array([[cos_yaw, -sin_yaw, 0],
                   [sin_yaw, cos_yaw, 0],
                   [0, 0, 1]])

    dcm = np.dot(np.dot(R_z, R_y), R_x)

    return dcm

# 将方位余弦阵转换为欧拉角
def dcm_to_euler(dcm):
    roll = np.arctan2(dcm[2,1], dcm[2,2])
    pitch = np.arctan2(-dcm[2,0], np.sqrt(dcm[2,1]**2 + dcm[2,2]**2))
    yaw = np.arctan2(dcm[1,0], dcm[0,0])

    return roll, pitch, yaw

其中，roll、pitch、yaw 分别表示绕 X 轴、Y 轴和 Z 轴旋转的欧拉角，dcm 表示方位余弦阵。使用 numpy 库中的 dot 函数可以进行矩阵乘法。