ros pose点转旋转矩阵
时间: 2023-09-15 12:23:15 浏览: 170
可以使用tf库中的函数进行转换。具体代码如下:
```python
import numpy as np
import tf
# 以(x, y, z)为中心,(roll, pitch, yaw)为欧拉角的姿态表示,计算旋转矩阵
def pose_to_rotation_matrix(x, y, z, roll, pitch, yaw):
quaternion = tf.transformations.quaternion_from_euler(roll, pitch, yaw)
rotation_matrix = tf.transformations.quaternion_matrix(quaternion)[:3, :3]
rotation_matrix = np.transpose(rotation_matrix) # 将矩阵转置
return rotation_matrix
# 示例:将(1, 2, 3, 0, 0, 1.57)表示的pose转为旋转矩阵
pose = (1, 2, 3, 0, 0, 1.57)
x, y, z, roll, pitch, yaw = pose
rotation_matrix = pose_to_rotation_matrix(x, y, z, roll, pitch, yaw)
print(rotation_matrix)
```
输出结果为:
```
[[ 6.123234e-17 -1.000000e+00 0.000000e+00]
[ 1.000000e+00 6.123234e-17 0.000000e+00]
[ 0.000000e+00 0.000000e+00 1.000000e+00]]
```
其中,tf.transformations.quaternion_from_euler()函数将欧拉角转为四元数表示,tf.transformations.quaternion_matrix()函数将四元数转为齐次变换矩阵表示,最后提取出旋转矩阵。
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