def euler_to_quaternion(euler: Euler,
sequence: str = "ZYX",
degrees: bool = False) -> Quaternion:
"""
Transform a quaternion into Euler angles.
:param euler: An Euler object.
:param sequence: Rotation sequence for the Euler angles.
:param degrees: Set to true if the provided Euler angles are in degrees. Default is radians.
:return: Quaternion object.
"""
rotation_object: Rotation = Rotation.from_euler(seq=sequence,
angles=euler.as_np_array(),
degrees=degrees)
quaternion: Quaternion = Quaternion.from_array(rotation_object.as_quat(),
frame="robot")
return quaternion
def quaternion_to_euler(
quaternion: Quaternion, sequence: str = "ZYX", degrees: bool = False
) -> Euler:
"""
Transform a quaternion into Euler angles.
:param quaternion: A Quaternion object.
:param sequence: Rotation sequence for the Euler angles.
:param degrees: Set to true if the resulting Euler angles should be in degrees. Default is radians.
:return: Euler object.
"""
rotation_object: Rotation = Rotation.from_quat(quaternion.as_np_array())
euler: Euler = Euler.from_array(
rotation_object.as_euler(sequence, degrees=degrees),
from_="robot",
to_="asset",
)
return euler
import numpy as np
import pytest
from alitra import Euler, Quaternion
from alitra.convert.euler import euler_to_quaternion
@pytest.mark.parametrize(
"euler, expected",
[
(
Euler(psi=0, phi=0, theta=0, from_="robot", to_="asset"),
Quaternion(x=0, y=0, z=0, w=1, frame="robot"),
),
(
Euler(
psi=1.5707963, # Z
theta=0.5235988, # Y
phi=1.0471976, # X
from_="robot",
to_="asset",
),
Quaternion(x=0.1830127, y=0.5, z=0.5, w=0.6830127, frame="robot"),
),
],
)
def test_quaternion_to_euler(euler, expected):
quaternion: Quaternion = euler_to_quaternion(
euler=euler, sequence="ZYX", degrees=False
)
def test_transform():
with pytest.raises(ValueError):
euler = Euler(from_="robot", to_="asset")
translation = Translation(1, 1, from_="robot", to_="asset")
Transform.from_euler_ZYX(translation, euler=euler, from_="asset", to_="robot")
def test_euler():
with pytest.raises(ValueError):
Euler.from_array(np.array([1, 1]), from_="robot", to_="asset")
import numpy as np
import pytest
from alitra import AlignFrames, Euler, FrameTransform, PointList, Translation, Transform
@pytest.mark.parametrize(
"eul_rot, ref_translations, p_robot,rotation_axes",
[
(
Euler(psi=np.pi * -0.0, from_="robot", to_="asset"),
Translation(x=200030, y=10000, from_="robot", to_="asset"),
PointList.from_array(
np.array([
[10, 1, 0],
[20, 2, 0],
[30, 7, 0],
[40, 5, 0],
]),
frame="robot",
),
"z",
),
(
Euler(psi=np.pi / 2, from_="robot", to_="asset"),
Translation(x=10, y=0, from_="robot", to_="asset"),
PointList.from_array(
np.array([[5, 0, 0], [5, 2, 0], [7, 5, 0], [3, 5, 0]]),
frame="robot",
),
"z",