def Rx(cls, theta, unit='rad', t=None):
"""
Create anSE(3) pure rotation about the X-axis
:param θ: rotation angle about X-axis
:type θ: float
:param unit: angular units: 'rad' [default], or 'deg'
:type unit: str
:param t: translation, optional
:type t: 3-element array-like
:return: SE(3) matrix
:rtype: SE3 instance
- ``SE3.Rx(θ)`` is an SE(3) rotation of θ radians about the x-axis
- ``SE3.Rx(θ, "deg")`` as above but θ is in degrees
- ``SE3.Rx(θ, t=T)`` as above but also sets the translational component
If ``θ`` is an array then the result is a sequence of rotations defined
by consecutive elements.
.. note:: The translation option only works for the scalar θ case.
Example:
.. runblock:: pycon
>>> SE3.Rx(0.3)
>>> SE3.Rx([0.3, 0.4])
:seealso: :func:`~spatialmath.base.transforms3d.trotx`
:SymPy: supported
"""
return cls(
[base.trotx(x, t=t, unit=unit) for x in base.getvector(theta)],
check=False)
def test_T_real(self):
fl = 1.543
rx = rp.ET.TRx(joint=86)
ry = rp.ET.TRy(joint=86)
rz = rp.ET.TRz(joint=86)
tx = rp.ET.Ttx(joint=86)
ty = rp.ET.Tty(joint=86)
tz = rp.ET.Ttz(joint=86)
nt.assert_array_almost_equal(rx.T(fl), sm.trotx(fl))
nt.assert_array_almost_equal(ry.T(fl), sm.troty(fl))
nt.assert_array_almost_equal(rz.T(fl), sm.trotz(fl))
nt.assert_array_almost_equal(tx.T(fl), sm.transl(fl, 0, 0))
nt.assert_array_almost_equal(ty.T(fl), sm.transl(0, fl, 0))
nt.assert_array_almost_equal(tz.T(fl), sm.transl(0, 0, fl))
def test_T_real_2(self):
fl = 1.543
rx = rp.ET.rx()
ry = rp.ET.ry()
rz = rp.ET.rz()
tx = rp.ET.tx()
ty = rp.ET.ty()
tz = rp.ET.tz()
nt.assert_array_almost_equal(rx.T(fl).A, sm.trotx(fl))
nt.assert_array_almost_equal(ry.T(fl).A, sm.troty(fl))
nt.assert_array_almost_equal(rz.T(fl).A, sm.trotz(fl))
nt.assert_array_almost_equal(tx.T(fl).A, sm.transl(fl, 0, 0))
nt.assert_array_almost_equal(ty.T(fl).A, sm.transl(0, fl, 0))
nt.assert_array_almost_equal(tz.T(fl).A, sm.transl(0, 0, fl))
def Rx(cls, theta, unit='rad'):
"""
Create SE(3) pure rotation about the X-axis
:param theta: rotation angle about X-axis
:type theta: float
:param unit: angular units: 'rad' [default], or 'deg'
:type unit: str
:return: 4x4 homogeneous transformation matrix
:rtype: SE3 instance
- ``SE3.Rx(THETA)`` is an SO(3) rotation of THETA radians about the x-axis
- ``SE3.Rx(THETA, "deg")`` as above but THETA is in degrees
"""
return cls([tr.trotx(x, unit) for x in argcheck.getvector(theta)])
def Rx(cls, theta, unit='rad'):
"""
Create SE(3) pure rotation about the X-axis
:param theta: rotation angle about X-axis
:type theta: float
:param unit: angular units: 'rad' [default], or 'deg'
:type unit: str
:return: 4x4 homogeneous transformation matrix
:rtype: SE3 instance
- ``SE3.Rx(THETA)`` is an SO(3) rotation of THETA radians about the x-axis
- ``SE3.Rx(THETA, "deg")`` as above but THETA is in degrees
If ``theta`` is an array then the result is a sequence of rotations defined by consecutive
elements.
"""
return cls([tr.trotx(x, unit) for x in argcheck.getvector(theta)],
check=False)
def test_T_real(self):
fl = 1.543
rx = rp.ET.TRx()
ry = rp.ET.TRy()
rz = rp.ET.TRz()
tx = rp.ET.Ttx()
ty = rp.ET.Tty()
tz = rp.ET.Ttz()
rx.j = 86
ry.j = 86
rz.j = 86
tx.j = 86
ty.j = 86
tz.j = 86
nt.assert_array_almost_equal(rx.T(fl).A, sm.trotx(fl))
nt.assert_array_almost_equal(ry.T(fl).A, sm.troty(fl))
nt.assert_array_almost_equal(rz.T(fl).A, sm.trotz(fl))
nt.assert_array_almost_equal(tx.T(fl).A, sm.transl(fl, 0, 0))
nt.assert_array_almost_equal(ty.T(fl).A, sm.transl(0, fl, 0))
nt.assert_array_almost_equal(tz.T(fl).A, sm.transl(0, 0, fl))
def test_TRx(self):
fl = 1.543
nt.assert_array_almost_equal(rp.ET.TRx(fl).T(), sm.trotx(fl))
nt.assert_array_almost_equal(rp.ET.TRx(-fl).T(), sm.trotx(-fl))
nt.assert_array_almost_equal(rp.ET.TRx(0).T(), sm.trotx(0))
def test_ets_var(self):
ets = rp.ET.rx() * rp.ET.tx()
nt.assert_array_almost_equal(ets[0].T(1).A, sm.trotx(1))
nt.assert_array_almost_equal(ets[1].T(2).A, sm.transl(2, 0, 0))
def update(frame, a):
s = frame / 100.0
T = tr.transl(0.5 * s, 0.5 * s, 0.5 * s) @ tr.trotx(math.pi * s)
a.draw(T)
return a.artists()
def test_ets(self):
ets = rp.ETS.rx(1) * rp.ETS.tx(2)
nt.assert_array_almost_equal(ets[0].T(), sm.trotx(1))
nt.assert_array_almost_equal(ets[1].T(), sm.transl(2, 0, 0))
import spatialmath.base as tr import matplotlib.pyplot as plt tr.trplot(tr.transl(1, 2, 3), frame='A', rviz=True, width=1) tr.trplot(tr.transl(3, 1, 2), color='red', width=3, frame='B') tr.trplot(tr.transl(4, 3, 1) @ tr.trotx(60, 'deg'), color='green', frame='c') plt.show()
