Python根据欧拉角求旋转矩阵的实例

  import numpy as np
  import scipy.linalg as linalg
  import math
  #参数分别是旋转轴和旋转弧度值
  def rotate_mat(self, axis, radian):
    rot_matrix = linalg.expm(np.cross(np.eye(3), axis / linalg.norm(axis) * radian))

  axis_x, axis_y, axis_z = [1,0,0], [0,1,0], [0, 0, 1]#分别是x,y和z轴,也可以自定义旋转轴
  yaw = 0.7854 #pi/4
  rot_matrix = rotate_mat(axis_z, yaw)#绕Z轴旋转pi/4

new_coor = np.dot(old_coor, rot_matrix)