relative_trafo.py 文件源码

def _get_rot_mat_y_hom(angle):
    """ Returns a 3D rotation matrix in homogeneous coords.  """
    one_vec = tf.ones_like(angle)
    zero_vec = one_vec*0.0
    trafo_matrix = _stitch_mat_from_vecs([tf.cos(angle), zero_vec, tf.sin(angle), zero_vec,
                                          zero_vec, one_vec, zero_vec, zero_vec,
                                          -tf.sin(angle), zero_vec, tf.cos(angle), zero_vec,
                                          zero_vec, zero_vec, zero_vec, one_vec])
    return trafo_matrix