欧拉角

Extrinsic Rotation

内部旋转：

from sympy import symbols, cos, sin, pi, sqrt
from sympy.matrices import Matrix

### Create symbols for joint variables
q1, q2 = symbols('q1:3')

# Create a symbolic matrix representing an intrinsic sequence of rotations 
  # about the Y and then Z axes. Let the rotation about the Y axis be described
  # by q1 and the rotation about Z by q2. 
####### TO DO ########
# Replace R_y and R_z with the appropriate (symbolic) elementary rotation matrices 
  # and then compute YZ_intrinsic. 
R_y = Matrix([[ cos(q1),        0, sin(q1)],
              [ 0,              1,       0],
              [-sin(q1),        0, cos(q1)]])
R_z = Matrix([[ cos(q2), -sin(q2),       0],
              [ sin(q2),  cos(q2),       0],
              [       0,        0,       1]])
YZ_intrinsic_sym = R_y * R_z

####### TO DO ########
# Numerically evaluate YZ_intrinsic assuming:
   # q1 = 45 degrees and q2 = 60 degrees. 
   # NOTE: Trigonometric functions in Python assume the input is in radians!  

YZ_intrinsic_num = YZ_intrinsic_sym.evalf(subs={q1: pi/4, q2: pi/3})

外部旋转：

from sympy import symbols, cos, sin, pi, sqrt
from sympy.matrices import Matrix

### Create symbols for joint variables
q1, q2 = symbols('q1:3')

# Create a symbolic matrix representing an extrinsic sequence of rotations 
  # about the Z and then Y axes. Let the rotation about the Y axis be described
  # by q1 and the rotation about Z by q2. 
####### TO DO ########
# Replace R_y and R_z with the appropriate (symbolic) elementary rotation matrices 
  # and then compute ZY_extrinsic. 
R_y = Matrix([[ cos(q1),        0, sin(q1)],
              [ 0,              1,       0],
              [-sin(q1),        0, cos(q1)]])
R_z = Matrix([[ cos(q2), -sin(q2),       0],
              [ sin(q2),  cos(q2),       0],
              [       0,        0,       1]])
ZY_extrinsic_sym = R_y * R_z
ZY_extrinsic_num = ZY_extrinsic_sym.evalf(subs={q1: pi/4, q2: pi/3})

####### TO DO ########
# Numerically evaluate ZY_extrinsic assuming:
   # q1 = 45 degrees and q2 = 60 degrees. 
   # NOTE: Trigonometric functions in Python assume the input is in radians!  
#ZY_extrinsic_sym = 
#ZY_extrinsic_num = ZY_extrinsic_sym.evalf(subs{})