def euler_angles(self, static=True, axes='xyz'):
"""The Euler angles from the rotation given by the frame.
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
Three numbers that represent the angles of rotations about the defined axes.
Examples
--------
>>> 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 test_matrix_from_basis_vectors():
xaxis = [0.68, 0.68, 0.27]
yaxis = [-0.67, 0.73, -0.15]
R = matrix_from_basis_vectors(xaxis, yaxis)
r = [[0.6807833515407016, -0.6687681611113407, -0.29880282253789103, 0.0],
[0.6807833515407016, 0.7282315114847181, -0.07882160714891209, 0.0],
[0.2703110366411609, -0.14975954908850603, 0.9510541192112079, 0.0],
[0.0, 0.0, 0.0, 1.0]]
assert allclose(R, r)
def axis_angle_vector(self):
""":class:`compas.geometry.Vector` : The axis-angle vector representing the rotation of the frame."""
R = matrix_from_basis_vectors(self.xaxis, self.yaxis)
return Vector(*axis_angle_vector_from_matrix(R))
def quaternion(self):
""":class:`compas.geometry.Quaternion` : The quaternion from the rotation given by the frame.
"""
R = matrix_from_basis_vectors(self.xaxis, self.yaxis)
return Quaternion(*quaternion_from_matrix(R))
def axis_angle_vector(self):
R = matrix_from_basis_vectors(self.xaxis, self.yaxis)
return Vector(*axis_angle_vector_from_matrix(R))
def quaternion(self):
R = matrix_from_basis_vectors(self.xaxis, self.yaxis)
return Quaternion(*quaternion_from_matrix(R))
