def euler_angles(self, static=True, axes='xyz'):
"""Returns Euler angles from the ``Rotation`` according to specified
axis sequence and rotation type.
Parameters
----------
static : bool, optional
If true the rotations are applied to a static frame.
If not, to a rotational.
Defaults to True.
axes : str, optional
A 3 character string specifying the order of the axes.
Defaults to 'xyz'.
Returns
-------
list of float: The 3 Euler angles.
Examples
--------
>>> ea1 = 1.4, 0.5, 2.3
>>> args = False, 'xyz'
>>> R1 = Rotation.from_euler_angles(ea1, *args)
>>> ea2 = R1.euler_angles(*args)
>>> allclose(ea1, ea2)
True
"""
return euler_angles_from_matrix(self.matrix, static, axes)
def euler_angles(self, static=True, axes='xyz'):
"""The Euler angles from the rotation given by the frame.
Parameters
----------
static : :obj:`bool`, optional
If true the rotations are applied to a static frame.
If not, to a rotational.
Defaults to True.
axes : :obj:`str`, optional
A 3 character string specifying the order of the axes.
Defaults to 'xyz'.
Returns
-------
:obj:`list` of :obj:`float`
Three numbers that represent the angles of rotations about the defined axes.
Examples
--------
>>> from compas.geometry import Frame
>>> ea1 = 1.4, 0.5, 2.3
>>> f = Frame.from_euler_angles(ea1, static = True, axes = 'xyz')
>>> ea2 = f.euler_angles(static = True, axes = 'xyz')
>>> allclose(ea1, ea2)
True
"""
R = matrix_from_basis_vectors(self.xaxis, self.yaxis)
return euler_angles_from_matrix(R, static, axes)
def euler_angles(self, static=True, axes='xyz'):
"""Returns Euler angles from the rotation according to specified
axis sequence and rotation type.
Parameters
----------
static : bool, optional
If True the rotations are applied to a static frame.
If False, to a rotational.
axes : str, optional
A 3 character string specifying the order of the axes.
Returns
-------
[float, float, float]
The 3 Euler angles.
Examples
--------
>>> from compas.geometry import allclose
>>> ea1 = 1.4, 0.5, 2.3
>>> args = False, 'xyz'
>>> R1 = Rotation.from_euler_angles(ea1, *args)
>>> ea2 = R1.euler_angles(*args)
>>> allclose(ea1, ea2)
True
"""
return euler_angles_from_matrix(self.matrix, static, axes)
def test_euler_angles_from_matrix():
ea1 = 1.4, 0.5, 2.3
args = True, 'xyz'
R = matrix_from_euler_angles(ea1, *args)
ea2 = euler_angles_from_matrix(R, *args)
assert np.allclose(ea1, ea2)
