openalea.phenomenal.calibration.transformations.euler_from_matrix
- openalea.phenomenal.calibration.transformations.euler_from_matrix(matrix, axes='sxyz')[source]
Return Euler angles from rotation matrix for specified axis sequence.
axes : One of 24 axis sequences as string or encoded tuple
Note that many Euler angle triplets can describe one matrix.
>>> R0 = euler_matrix(1, 2, 3, 'syxz') >>> al, be, ga = euler_from_matrix(R0, 'syxz') >>> R1 = euler_matrix(al, be, ga, 'syxz') >>> numpy.allclose(R0, R1) True >>> angles = (4*math.pi) * (numpy.random.random(3) - 0.5) >>> for axes in _AXES2TUPLE.keys(): ... R0 = euler_matrix(axes=axes, *angles) ... R1 = euler_matrix(axes=axes, *euler_from_matrix(R0, axes)) ... if not numpy.allclose(R0, R1): print(axes, "failed")