{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 8,
   "id": "82327832",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "3.141592653589793\n",
      "[[ 0.65011138 -0.75983893  0.        ]\n",
      " [ 0.75983893  0.65011138  0.        ]\n",
      " [ 0.          0.          1.        ]]\n"
     ]
    }
   ],
   "source": [
    "from math import sin, cos\n",
    "import numpy as np\n",
    "\n",
    "print(np.pi)\n",
    "\n",
    "a=49.45*np.pi/180\n",
    "b=11.31*np.pi/180\n",
    "c=-2.11*np.pi/180\n",
    "\n",
    "yaw = np.array([\n",
    "    [cos(a), -sin(a), 0],\n",
    "    [sin(a), cos(a), 0],\n",
    "    [0,0,1]\n",
    "])\n",
    "pitch = np.array([\n",
    "    [cos(b), 0, sin(b)],\n",
    "    [0, 1, 0],\n",
    "    [-sin(b),0,cos(b)]\n",
    "])\n",
    "roll = np.array([\n",
    "    [1, 0, 0],\n",
    "    [0, cos(c), -sin(c)],\n",
    "    [0,sin(c),cos(c)]\n",
    "])\n",
    "\n",
    "R=yaw@pitch@roll\n",
    "print(yaw)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "id": "ac13f413",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "0.8414709848078965"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "import math\n",
    "math.sin(1)\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "b656fc03",
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
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