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295 lines
8.8 KiB
295 lines
8.8 KiB
import numpy as np
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from numpy import dot, inner, array, linalg
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from common.transformations.coordinates import LocalCoord
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'''
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Vectorized functions that transform between
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rotation matrices, euler angles and quaternions.
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All support lists, array or array of arrays as inputs.
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Supports both x2y and y_from_x format (y_from_x preferred!).
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'''
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def euler2quat(eulers):
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eulers = array(eulers)
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if len(eulers.shape) > 1:
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output_shape = (-1,4)
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else:
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output_shape = (4,)
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eulers = np.atleast_2d(eulers)
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gamma, theta, psi = eulers[:,0], eulers[:,1], eulers[:,2]
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q0 = np.cos(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) + \
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np.sin(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
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q1 = np.sin(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) - \
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np.cos(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
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q2 = np.cos(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2) + \
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np.sin(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2)
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q3 = np.cos(gamma / 2) * np.cos(theta / 2) * np.sin(psi / 2) - \
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np.sin(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2)
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quats = array([q0, q1, q2, q3]).T
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for i in range(len(quats)):
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if quats[i,0] < 0:
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quats[i] = -quats[i]
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return quats.reshape(output_shape)
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def quat2euler(quats):
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quats = array(quats)
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if len(quats.shape) > 1:
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output_shape = (-1,3)
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else:
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output_shape = (3,)
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quats = np.atleast_2d(quats)
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q0, q1, q2, q3 = quats[:,0], quats[:,1], quats[:,2], quats[:,3]
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gamma = np.arctan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1**2 + q2**2))
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theta = np.arcsin(2 * (q0 * q2 - q3 * q1))
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psi = np.arctan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2**2 + q3**2))
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eulers = array([gamma, theta, psi]).T
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return eulers.reshape(output_shape)
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def quat2rot(quats):
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quats = array(quats)
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input_shape = quats.shape
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quats = np.atleast_2d(quats)
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Rs = np.zeros((quats.shape[0], 3, 3))
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q0 = quats[:, 0]
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q1 = quats[:, 1]
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q2 = quats[:, 2]
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q3 = quats[:, 3]
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Rs[:, 0, 0] = q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3
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Rs[:, 0, 1] = 2 * (q1 * q2 - q0 * q3)
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Rs[:, 0, 2] = 2 * (q0 * q2 + q1 * q3)
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Rs[:, 1, 0] = 2 * (q1 * q2 + q0 * q3)
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Rs[:, 1, 1] = q0 * q0 - q1 * q1 + q2 * q2 - q3 * q3
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Rs[:, 1, 2] = 2 * (q2 * q3 - q0 * q1)
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Rs[:, 2, 0] = 2 * (q1 * q3 - q0 * q2)
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Rs[:, 2, 1] = 2 * (q0 * q1 + q2 * q3)
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Rs[:, 2, 2] = q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3
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if len(input_shape) < 2:
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return Rs[0]
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else:
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return Rs
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def rot2quat(rots):
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input_shape = rots.shape
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if len(input_shape) < 3:
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rots = array([rots])
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K3 = np.empty((len(rots), 4, 4))
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K3[:, 0, 0] = (rots[:, 0, 0] - rots[:, 1, 1] - rots[:, 2, 2]) / 3.0
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K3[:, 0, 1] = (rots[:, 1, 0] + rots[:, 0, 1]) / 3.0
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K3[:, 0, 2] = (rots[:, 2, 0] + rots[:, 0, 2]) / 3.0
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K3[:, 0, 3] = (rots[:, 1, 2] - rots[:, 2, 1]) / 3.0
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K3[:, 1, 0] = K3[:, 0, 1]
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K3[:, 1, 1] = (rots[:, 1, 1] - rots[:, 0, 0] - rots[:, 2, 2]) / 3.0
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K3[:, 1, 2] = (rots[:, 2, 1] + rots[:, 1, 2]) / 3.0
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K3[:, 1, 3] = (rots[:, 2, 0] - rots[:, 0, 2]) / 3.0
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K3[:, 2, 0] = K3[:, 0, 2]
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K3[:, 2, 1] = K3[:, 1, 2]
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K3[:, 2, 2] = (rots[:, 2, 2] - rots[:, 0, 0] - rots[:, 1, 1]) / 3.0
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K3[:, 2, 3] = (rots[:, 0, 1] - rots[:, 1, 0]) / 3.0
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K3[:, 3, 0] = K3[:, 0, 3]
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K3[:, 3, 1] = K3[:, 1, 3]
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K3[:, 3, 2] = K3[:, 2, 3]
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K3[:, 3, 3] = (rots[:, 0, 0] + rots[:, 1, 1] + rots[:, 2, 2]) / 3.0
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q = np.empty((len(rots), 4))
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for i in range(len(rots)):
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_, eigvecs = linalg.eigh(K3[i].T)
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eigvecs = eigvecs[:,3:]
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q[i, 0] = eigvecs[-1]
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q[i, 1:] = -eigvecs[:-1].flatten()
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if q[i, 0] < 0:
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q[i] = -q[i]
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if len(input_shape) < 3:
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return q[0]
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else:
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return q
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def euler2rot(eulers):
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return rotations_from_quats(euler2quat(eulers))
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def rot2euler(rots):
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return quat2euler(quats_from_rotations(rots))
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quats_from_rotations = rot2quat
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quat_from_rot = rot2quat
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rotations_from_quats = quat2rot
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rot_from_quat= quat2rot
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rot_from_quat= quat2rot
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euler_from_rot = rot2euler
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euler_from_quat = quat2euler
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rot_from_euler = euler2rot
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quat_from_euler = euler2quat
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'''
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Random helpers below
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'''
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def quat_product(q, r):
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t = np.zeros(4)
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t[0] = r[0] * q[0] - r[1] * q[1] - r[2] * q[2] - r[3] * q[3]
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t[1] = r[0] * q[1] + r[1] * q[0] - r[2] * q[3] + r[3] * q[2]
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t[2] = r[0] * q[2] + r[1] * q[3] + r[2] * q[0] - r[3] * q[1]
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t[3] = r[0] * q[3] - r[1] * q[2] + r[2] * q[1] + r[3] * q[0]
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return t
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def rot_matrix(roll, pitch, yaw):
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cr, sr = np.cos(roll), np.sin(roll)
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cp, sp = np.cos(pitch), np.sin(pitch)
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cy, sy = np.cos(yaw), np.sin(yaw)
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rr = array([[1,0,0],[0, cr,-sr],[0, sr, cr]])
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rp = array([[cp,0,sp],[0, 1,0],[-sp, 0, cp]])
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ry = array([[cy,-sy,0],[sy, cy,0],[0, 0, 1]])
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return ry.dot(rp.dot(rr))
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def rot(axis, angle):
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# Rotates around an arbitrary axis
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ret_1 = (1 - np.cos(angle)) * array([[axis[0]**2, axis[0] * axis[1], axis[0] * axis[2]], [
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axis[1] * axis[0], axis[1]**2, axis[1] * axis[2]
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], [axis[2] * axis[0], axis[2] * axis[1], axis[2]**2]])
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ret_2 = np.cos(angle) * np.eye(3)
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ret_3 = np.sin(angle) * array([[0, -axis[2], axis[1]], [axis[2], 0, -axis[0]],
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[-axis[1], axis[0], 0]])
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return ret_1 + ret_2 + ret_3
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def ecef_euler_from_ned(ned_ecef_init, ned_pose):
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'''
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Got it from here:
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Using Rotations to Build Aerospace Coordinate Systems
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-Don Koks
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'''
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converter = LocalCoord.from_ecef(ned_ecef_init)
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x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0])
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y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0])
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z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0])
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x1 = rot(z0, ned_pose[2]).dot(x0)
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y1 = rot(z0, ned_pose[2]).dot(y0)
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z1 = rot(z0, ned_pose[2]).dot(z0)
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x2 = rot(y1, ned_pose[1]).dot(x1)
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y2 = rot(y1, ned_pose[1]).dot(y1)
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z2 = rot(y1, ned_pose[1]).dot(z1)
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x3 = rot(x2, ned_pose[0]).dot(x2)
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y3 = rot(x2, ned_pose[0]).dot(y2)
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#z3 = rot(x2, ned_pose[0]).dot(z2)
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x0 = array([1, 0, 0])
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y0 = array([0, 1, 0])
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z0 = array([0, 0, 1])
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psi = np.arctan2(inner(x3, y0), inner(x3, x0))
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theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2))
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y2 = rot(z0, psi).dot(y0)
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z2 = rot(y2, theta).dot(z0)
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phi = np.arctan2(inner(y3, z2), inner(y3, y2))
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ret = array([phi, theta, psi])
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return ret
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def ned_euler_from_ecef(ned_ecef_init, ecef_poses):
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'''
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Got the math from here:
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Using Rotations to Build Aerospace Coordinate Systems
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-Don Koks
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Also accepts array of ecef_poses and array of ned_ecef_inits.
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Where each row is a pose and an ecef_init.
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'''
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ned_ecef_init = array(ned_ecef_init)
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ecef_poses = array(ecef_poses)
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output_shape = ecef_poses.shape
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ned_ecef_init = np.atleast_2d(ned_ecef_init)
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if ned_ecef_init.shape[0] == 1:
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ned_ecef_init = np.tile(ned_ecef_init[0], (output_shape[0], 1))
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ecef_poses = np.atleast_2d(ecef_poses)
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ned_poses = np.zeros(ecef_poses.shape)
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for i, ecef_pose in enumerate(ecef_poses):
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converter = LocalCoord.from_ecef(ned_ecef_init[i])
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x0 = array([1, 0, 0])
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y0 = array([0, 1, 0])
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z0 = array([0, 0, 1])
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x1 = rot(z0, ecef_pose[2]).dot(x0)
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y1 = rot(z0, ecef_pose[2]).dot(y0)
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z1 = rot(z0, ecef_pose[2]).dot(z0)
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x2 = rot(y1, ecef_pose[1]).dot(x1)
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y2 = rot(y1, ecef_pose[1]).dot(y1)
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z2 = rot(y1, ecef_pose[1]).dot(z1)
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x3 = rot(x2, ecef_pose[0]).dot(x2)
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y3 = rot(x2, ecef_pose[0]).dot(y2)
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#z3 = rot(x2, ecef_pose[0]).dot(z2)
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x0 = converter.ned2ecef([1, 0, 0]) - converter.ned2ecef([0, 0, 0])
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y0 = converter.ned2ecef([0, 1, 0]) - converter.ned2ecef([0, 0, 0])
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z0 = converter.ned2ecef([0, 0, 1]) - converter.ned2ecef([0, 0, 0])
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psi = np.arctan2(inner(x3, y0), inner(x3, x0))
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theta = np.arctan2(-inner(x3, z0), np.sqrt(inner(x3, x0)**2 + inner(x3, y0)**2))
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y2 = rot(z0, psi).dot(y0)
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z2 = rot(y2, theta).dot(z0)
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phi = np.arctan2(inner(y3, z2), inner(y3, y2))
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ned_poses[i] = array([phi, theta, psi])
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return ned_poses.reshape(output_shape)
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def ecef2car(car_ecef, psi, theta, points_ecef, ned_converter):
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"""
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TODO: add roll rotation
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Converts an array of points in ecef coordinates into
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x-forward, y-left, z-up coordinates
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Parameters
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----------
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psi: yaw, radian
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theta: pitch, radian
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Returns
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-------
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[x, y, z] coordinates in car frame
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"""
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# input is an array of points in ecef cocrdinates
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# output is an array of points in car's coordinate (x-front, y-left, z-up)
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# convert points to NED
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points_ned = []
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for p in points_ecef:
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points_ned.append(ned_converter.ecef2ned_matrix.dot(array(p) - car_ecef))
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points_ned = np.vstack(points_ned).T
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# n, e, d -> x, y, z
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# Calculate relative postions and rotate wrt to heading and pitch of car
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invert_R = array([[1., 0., 0.], [0., -1., 0.], [0., 0., -1.]])
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c, s = np.cos(psi), np.sin(psi)
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yaw_R = array([[c, s, 0.], [-s, c, 0.], [0., 0., 1.]])
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c, s = np.cos(theta), np.sin(theta)
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pitch_R = array([[c, 0., -s], [0., 1., 0.], [s, 0., c]])
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return dot(pitch_R, dot(yaw_R, dot(invert_R, points_ned)))
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