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DFL-2.0 initial branch commit

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Colombo 2020-01-21 18:43:39 +04:00
parent 52a67a61b3
commit 38b85108b3
154 changed files with 5251 additions and 9414 deletions
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25
mathlib/__init__.py
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@ -1,25 +0,0 @@
import numpy as np
import math
from .umeyama import umeyama
def get_power_of_two(x):
i = 0
while (1 << i) < x:
i += 1
return i
def rotationMatrixToEulerAngles(R) :
sy = math.sqrt(R[0,0] * R[0,0] + R[1,0] * R[1,0])
singular = sy < 1e-6
if not singular :
x = math.atan2(R[2,1] , R[2,2])
y = math.atan2(-R[2,0], sy)
z = math.atan2(R[1,0], R[0,0])
else :
x = math.atan2(-R[1,2], R[1,1])
y = math.atan2(-R[2,0], sy)
z = 0
return np.array([x, y, z])
def polygon_area(x,y):
return 0.5*np.abs(np.dot(x,np.roll(y,1))-np.dot(y,np.roll(x,1)))