def testEulerToFrame(): ''' Test some euler converions ''' rpy = transformations.euler_from_quaternion(transformations.random_quaternion()) frame = transformUtils.frameFromPositionAndRPY([0,0,0], np.degrees(rpy)) mat = transformUtils.getNumpyFromTransform(frame) mat2 = transformations.euler_matrix(rpy[0], rpy[1], rpy[2]) print mat print mat2 assert np.allclose(mat, mat2)
def testEulerToFrame(): ''' Test some euler converions ''' rpy = transformations.euler_from_quaternion( transformations.random_quaternion()) frame = transformUtils.frameFromPositionAndRPY([0, 0, 0], np.degrees(rpy)) mat = transformUtils.getNumpyFromTransform(frame) mat2 = transformations.euler_matrix(rpy[0], rpy[1], rpy[2]) print(mat) print(mat2) assert np.allclose(mat, mat2)
def testEulerBotpy(): ''' Test some quaternion and euler conversions with botpy ''' quat = transformations.random_quaternion() rpy = transformations.euler_from_quaternion(quat) rpy2 = botpy.quat_to_roll_pitch_yaw(quat) quat2 = botpy.roll_pitch_yaw_to_quat(rpy) mat = transformations.quaternion_matrix(quat) frame = transformUtils.getTransformFromNumpy(mat) rpy3 = transformUtils.rollPitchYawFromTransform(frame) print quat, quat2 print rpy, rpy2, rpy3 assert isQuatEqual(quat, quat2) assert np.allclose(rpy, rpy2) assert np.allclose(rpy2, rpy3)
def quaternionToRollPitchYaw(quat): return transformations.euler_from_quaternion(quat)