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Remove R_from_rpy(rpy) method #6

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merged 8 commits into from
Nov 9, 2022
Merged

Remove R_from_rpy(rpy) method #6

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dd07b28
Remove wrong method
Giulero Nov 7, 2022
9b68f4e
Fix annotation
Giulero Nov 7, 2022
bfb0329
update numpy requirement
Giulero Nov 7, 2022
d0e5870
Add scipy test dep
Giulero Nov 7, 2022
5477a7c
Change from_angle to from_euler and implement to_euler method
Giulero Nov 7, 2022
8cbe582
Add euler test
Giulero Nov 7, 2022
f0faeb1
Small refactor
Giulero Nov 8, 2022
24540eb
Fix annotation
Giulero Nov 8, 2022
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6 changes: 1 addition & 5 deletions src/liecasadi/so3.py
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Original file line number Diff line number Diff line change
Expand Up @@ -78,10 +78,6 @@ def inverse(self) -> "SO3":
def transpose(self) -> "SO3":
return SO3(xyzw=cs.vertcat(-self.quat.coeffs()[:3], self.quat.coeffs()[3]))

@staticmethod
def R_from_rpy(rpy) -> "SO3":
return SO3.Rz(rpy[2]) * SO3.Ry(rpy[1]) * SO3.Rx(rpy[0])

@staticmethod
def q_from_rpy(rpy) -> "SO3":
return SO3.qz(rpy[2]) * SO3.qy(rpy[1]) * SO3.qx(rpy[0])
Expand Down Expand Up @@ -138,7 +134,7 @@ def quaternion_derivative(
).coeffs()

@staticmethod
def product(q1: Quaternion, q2: Quaternion) -> Quaternion:
def product(q1: Vector, q2: Vector) -> Vector:
p1 = q1[3] * q2[3] - cs.dot(q1[:3], q2[:3])
p2 = q1[3] * q2[:3] + q2[3] * q1[:3] + cs.cross(q1[:3], q2[:3])
return cs.vertcat(p2, p1)
Expand Down