找遍了全网,竟然没有python版本的,我只能自己手写了555555555555555555555555555555555
#!/usr/bin/env python
# -*- coding:utf-8 -*-
import geometry_msgs
import math
class RPY2Quar:
def __init__(self,roll,pitch,yaw):
self.roll=roll
self.pitch=pitch
self.yaw=yaw
# 欧拉角转四元数
def RPY2Quar(self):
cy=math.cos(self.yaw*0.5)
sy=math.sin(self.yaw*0.5)
cp=math.cos(self.pitch*0.5)
sp=math.sin(self.pitch*0.5)
cr =math.cos(self.roll * 0.5);
sr =math.sin(self.roll * 0.5);
q=geometry_msgs.msg.Pose();
q.orientation.w= cy * cp * cr + sy * sp * sr;
q.orientation.x = cy * cp * sr - sy * sp * cr;
q.orientation.y = sy * cp * sr + cy * sp * cr;
q.orientation.z = sy * cp * cr - cy * sp * sr;
return q;