twizy_description/src/twizy_description/robot_description.py
def xyz_rpy(transformation):
    """Decompose a transformation matrix into translation and euler angles

    :param transformation: A 4x4 transformation matrix

    :return: A tuple of (x, y, z, r, p, y) where (x, y, z) are coordinates of a
        cartesian translation and (r, p, y) are roll, pitch, yaw applied in
        that order around fixed axis
    """

    T, R, _, _ = decompose44(transformation)
    return (T[0], T[1], T[2]), mat2euler(R)
Decompose a transformation matrix into translation and euler angles

    :param transformation: A 4x4 transformation matrix

    :return: A tuple of (x, y, z, r, p, y) where (x, y, z) are coordinates of a
        cartesian translation and (r, p, y) are roll, pitch, yaw applied in
        that order around fixed axis
    
Decompose a transformation matrix into translation and euler angles
Decompose a transformation matrix into translation and euler angles
def xyz_rpy(transformation):
    T, R, _, _ = decompose44(transformation)
    return (T[0], T[1], T[2]), mat2euler(R)
def xyz_rpy ( transformation ) : T , R , _ , _ = decompose44 ( transformation ) return ( T [ 0 ] , T [ 1 ] , T [ 2 ] ) , mat2euler ( R )
Decompose a transformation matrix into translation and euler angles
Decompose a transformation matrix into translation and euler angles
"""Decompose a transformation matrix into translation and euler angles

    :param transformation: A 4x4 transformation matrix

    :return: A tuple of (x, y, z, r, p, y) where (x, y, z) are coordinates of a
        cartesian translation and (r, p, y) are roll, pitch, yaw applied in
        that order around fixed axis
    """
A tuple of (x, y, z, r, p, y) where (x, y, z) are coordinates of a
cartesian translation and (r, p, y) are roll, pitch, yaw applied in
that order around fixed axis
A tuple of ( x y z r p y ) where ( x y z ) are coordinates of a cartesian translation and ( r p y ) are roll pitch yaw applied in that order around fixed axis
transformation
A 4x4 transformation matrix
A 4x4 transformation matrix