hyperellipsoid.py 文件源码

def rotXYZ(R, unit='deg'):
    """ Compute Euler angles from matrix R using XYZ sequence."""

    angles = np.zeros(3)
    angles[0] = np.arctan2(R[2, 1], R[2, 2])
    angles[1] = np.arctan2(-R[2, 0], np.sqrt(R[0, 0]**2 + R[1, 0]**2))
    angles[2] = np.arctan2(R[1, 0], R[0, 0])

    if unit[:3].lower() == 'deg':  # convert from rad to degree
        angles = np.rad2deg(angles)

    return angles