def eul(self, unit='rad', flip=False):
r"""
SO(3) or SE(3) as Euler angles
:param unit: angular units: 'rad' [default], or 'deg'
:type unit: str
:return: 3-vector of Euler angles
:rtype: numpy.ndarray, shape=(3,)
``x.eul`` is the Euler angle representation of the rotation. Euler angles are
a 3-vector :math:`(\phi, \theta, \psi)` which correspond to consecutive
rotations about the Z, Y, Z axes respectively.
If ``len(x)`` is:
- 1, return an ndarray with shape=(3,)
- N>1, return ndarray with shape=(N,3)
:seealso: :func:`~spatialmath.pose3d.SE3.Eul`, :func:`~spatialmath.base.transforms3d.tr2eul`
:SymPy: not supported
"""
if len(self) == 1:
return base.tr2eul(self.A, unit=unit)
else:
return np.array([base.tr2eul(x, unit=unit) for x in self.A]).T
def eul(self, unit='deg'):
"""
Extract Euler angles from SO(3) rotation
:param self: rotation or pose
:type angles: SO3, SE3 instance
:param unit: angular units: 'rad' [default], or 'deg'
:type unit: str
:return: 3-vector of Euler angles
:rtype: numpy.ndarray, shape=(3,)
``R.eul`` is the Euler angle representation of the rotation. Euler angles are
a 3-vector :math:`(\phi, \theta, \psi)` which correspond to consecutive
rotations about the Z, Y, Z axes respectively.
``R.eul`` returns an:
- ndarray with shape=(3,), if len(R) == 1
- ndarray with shape=(N,3), if len(R) = N > 1
:seealso: :func:`~spatialmath.pose3d.SE3.Eul`, ::func:`spatialmath.base.transforms3d.tr2eul`
"""
if len(self) == 1:
return tr.tr2eul(self.A, unit=unit)
else:
return np.array([tr.tr2eul(x, unit=unit) for x in self.A]).T
def eul(self, unit='rad', order='zyx'):
return tr.tr2eul(self.R, unit=unit)