- X轴
yaw = np.zeros(3)
yaw[0] = math.pi/4
rot_mat = geometry.get_rotation_matrix_from_xyz(yaw)
print(rot_mat)
[[ 1. 0. 0. ]
[ 0. 0.70710678 -0.70710678]
[ 0. 0.70710678 0.70710678]]
- Y轴
yaw = np.zeros(3)
yaw[1] = math.pi/4
rot_mat = geometry.get_rotation_matrix_from_xyz(yaw)
print(rot_mat)
[[ 0.70710678 0. 0.70710678]
[ 0. 1. 0. ]
[-0.70710678 0. 0.70710678]]
- Z轴
yaw = np.zeros(3)
yaw[2] = math.pi/4
rot_mat = geometry.get_rotation_matrix_from_xyz(yaw)
print(rot_mat)
[[ 0.70710678 -0.70710678 0. ]
[ 0.70710678 0.70710678 0. ]
[ 0. 0. 1. ]]