def Eul(cls, *angles, unit='rad'):
r"""
Construct a new SO(3) from Euler angles
:param 𝚪: Euler angles
:type 𝚪: array_like or numpy.ndarray with shape=(N,3)
:param unit: angular units: 'rad' [default], or 'deg'
:type unit: str
:return: SO(3) rotation
:rtype: SO3 instance
``SO3.Eul(𝚪)`` is an SO(3) rotation defined by a 3-vector of Euler
angles :math:`\Gamma = (\phi, \theta, \psi)` which correspond to
consecutive rotations about the Z, Y, Z axes respectively. If ``𝚪``
is an Nx3 matrix then the result is a sequence of rotations each
defined by Euler angles corresponding to the rows of ``angles``.
``SO3.Eul(φ, θ, ψ)`` as above but the angles are provided as three
scalars.
Example:
.. runblock:: pycon
>>> from spatialmath import SO3
>>> SO3.Eul(0.1, 0.2, 0.3)
>>> SO3.Eul([0.1, 0.2, 0.3])
>>> SO3.Eul(10, 20, 30, 'deg')
:seealso: :func:`~spatialmath.pose3d.SE3.eul`, :func:`~spatialmath.pose3d.SE3.Eul`, :func:`~spatialmath.base.transforms3d.eul2r`
"""
if len(angles) == 1:
angles = angles[0]
if base.isvector(angles, 3):
return cls(base.eul2r(angles, unit=unit), check=False)
else:
return cls([base.eul2r(a, unit=unit) for a in angles], check=False)
def Eul(cls, angles, *, unit='rad'):
r"""
Construct a new SO(3) from Euler angles
:param 𝚪: Euler angles
:type 𝚪: array_like or numpy.ndarray with shape=(N,3)
:param unit: angular units: 'rad' [default], or 'deg'
:type unit: str
:return: SO(3) rotation
:rtype: SO3 instance
``SO3.Eul(𝚪)`` is an SO(3) rotation defined by a 3-vector of Euler angles :math:`\Gamma = (\phi, \theta, \psi)` which
correspond to consecutive rotations about the Z, Y, Z axes respectively.
If ``𝚪`` is an Nx3 matrix then the result is a sequence of rotations each defined by Euler angles
corresponding to the rows of ``angles``.
:seealso: :func:`~spatialmath.pose3d.SE3.eul`, :func:`~spatialmath.pose3d.SE3.Eul`, :func:`~spatialmath.base.transforms3d.eul2r`
"""
if base.isvector(angles, 3):
return cls(base.eul2r(angles, unit=unit), check=False)
else:
return cls([base.eul2r(a, unit=unit) for a in angles], check=False)
def Eul(cls, angles, *, unit='rad'):
"""
Create an SO(3) rotation from Euler angles
:param angles: 3-vector of Euler angles
:type angles: array_like or numpy.ndarray with shape=(N,3)
:param unit: angular units: 'rad' [default], or 'deg'
:type unit: str
:return: 3x3 rotation matrix
:rtype: SO3 instance
``SO3.Eul(angles)`` is an SO(3) rotation defined by a 3-vector of Euler angles :math:`(\phi, \theta, \psi)` which
correspond to consecutive rotations about the Z, Y, Z axes respectively.
If ``angles`` is an Nx3 matrix then the result is a sequence of rotations each defined by Euler angles
correponding to the rows of angles.
:seealso: :func:`~spatialmath.pose3d.SE3.eul`, :func:`~spatialmath.pose3d.SE3.Eul`, :func:`spatialmath.base.transforms3d.eul2r`
"""
if argcheck.isvector(angles, 3):
return cls(tr.eul2r(angles, unit=unit))
else:
return cls([tr.eul2r(a, unit=unit) for a in angles])
def Eul(cls, angles, *, unit='rad'):
"""
Create an SO(3) rotation from Euler angles
:param angles: 3-vector of Euler angles
:type angles: array_like
:param unit: angular units: 'rad' [default], or 'deg'
:type unit: str
:return: 3x3 rotation matrix
:rtype: SO3 instance
``SO3.Eul(ANGLES)`` is an SO(3) rotation defined by a 3-vector of Euler angles :math:`(\phi, \theta, \psi)` which
correspond to consecutive rotations about the Z, Y, Z axes respectively.
:seealso: :func:`~spatialmath.pose3d.SE3.eul`, :func:`~spatialmath.pose3d.SE3.Eul`, :func:`spatialmath.base.transforms3d.eul2r`
"""
return cls(quat.r2q(tr.eul2r(angles, unit=unit)), check=False)
