Rotation.from_euler_angles

classmethod Rotation.from_euler_angles(euler_angles, static=True, axes='xyz', **kwargs)

Construct a rotation transformation from Euler angles.

In 3D space any orientation can be achieved by composing three elemental rotations, rotations about the axes (x,y,z) of a coordinate system. A triple of Euler angles can be interpreted in 24 ways, which depends on if the rotations are applied to a static (extrinsic) or rotating (intrinsic) frame and the order of axes.

Parameters

  • euler_angles ([float, float, float]) – Three numbers that represent the angles of rotations about the defined axes.

  • static (bool, optional) – If True the rotations are applied to a static frame. If False, to a rotational.

  • axes (str, optional) – A 3 character string specifying order of the axes.

Returns

Rotation

Examples

>>> from compas.geometry import allclose
>>> ea1 = 1.4, 0.5, 2.3
>>> args = False, 'xyz'
>>> R1 = Rotation.from_euler_angles(ea1, *args)
>>> ea2 = R1.euler_angles(*args)
>>> allclose(ea1, ea2)
True

>>> alpha, beta, gamma = ea1
>>> xaxis, yaxis, zaxis = [1, 0, 0], [0, 1, 0], [0, 0, 1]
>>> Rx = Rotation.from_axis_and_angle(xaxis, alpha)
>>> Ry = Rotation.from_axis_and_angle(yaxis, beta)
>>> Rz = Rotation.from_axis_and_angle(zaxis, gamma)
>>> R2 = Rx * Ry * Rz
>>> R1 == R2
True