transforms.py 文件源码

def troty(theta, unit="rad", xyz=[0, 0, 0]):
    """
    TROTY Rotation about Y axis

    :param theta: rotation in radians or degrees
    :param unit: "rad" or "deg" to indicate unit being used
    :param xyz: the xyz translation, if blank defaults to [0,0,0]
    :return: homogeneous transform matrix

    troty(THETA) is a homogeneous transformation (4x4) representing a rotation
    of THETA radians about the y-axis.
    troty(THETA, 'deg') as above but THETA is in degrees
    troty(THETA, 'rad', [x,y,z]) as above with translation of [x,y,z]
    """
    check_args.unit_check(unit)
    tm = roty(theta, unit)
    tm = np.r_[tm, np.zeros((1, 3))]
    mat = np.c_[tm, np.array([[xyz[0]], [xyz[1]], [xyz[2]], [1]])]
    mat = np.asmatrix(mat.round(15))
    return mat


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