102 lines
1.9 KiB
Text
Executable file
102 lines
1.9 KiB
Text
Executable file
{
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"cells": [
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{
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"cell_type": "code",
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"execution_count": 8,
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"id": "82327832",
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"metadata": {},
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"3.141592653589793\n",
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"[[ 0.65011138 -0.75983893 0. ]\n",
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" [ 0.75983893 0.65011138 0. ]\n",
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" [ 0. 0. 1. ]]\n"
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]
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}
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],
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"source": [
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"from math import sin, cos\n",
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"import numpy as np\n",
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"\n",
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"print(np.pi)\n",
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"\n",
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"a=49.45*np.pi/180\n",
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"b=11.31*np.pi/180\n",
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"c=-2.11*np.pi/180\n",
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"\n",
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"yaw = np.array([\n",
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" [cos(a), -sin(a), 0],\n",
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" [sin(a), cos(a), 0],\n",
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" [0,0,1]\n",
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"])\n",
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"pitch = np.array([\n",
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" [cos(b), 0, sin(b)],\n",
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" [0, 1, 0],\n",
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" [-sin(b),0,cos(b)]\n",
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"])\n",
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"roll = np.array([\n",
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" [1, 0, 0],\n",
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" [0, cos(c), -sin(c)],\n",
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" [0,sin(c),cos(c)]\n",
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"])\n",
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"\n",
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"R=yaw@pitch@roll\n",
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"print(yaw)"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 3,
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"id": "ac13f413",
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"metadata": {},
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"outputs": [
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{
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"data": {
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"text/plain": [
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"0.8414709848078965"
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]
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},
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"execution_count": 3,
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"metadata": {},
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"output_type": "execute_result"
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}
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],
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"source": [
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"import math\n",
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"math.sin(1)\n"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"id": "b656fc03",
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"metadata": {},
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"outputs": [],
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"source": []
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}
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],
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"metadata": {
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"kernelspec": {
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"display_name": "Python 3 (ipykernel)",
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"language": "python",
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"name": "python3"
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},
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"language_info": {
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"codemirror_mode": {
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"name": "ipython",
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"version": 3
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},
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"file_extension": ".py",
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"mimetype": "text/x-python",
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.8.12"
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}
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},
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"nbformat": 4,
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"nbformat_minor": 5
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}
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