Python 代码：欧拉角转换为旋转矩阵

以下是将欧拉角转为旋转矩阵的 Python 代码：

import numpy as np

def euler_to_rotation_matrix(theta):
    'Convert Euler angles to rotation matrix'
    'param theta: Euler angles as a tuple (roll, pitch, yaw)'
    'return: Rotation matrix'
    roll, pitch, yaw = theta
    Rx = np.array([[1, 0, 0],
                   [0, np.cos(roll), -np.sin(roll)],
                   [0, np.sin(roll), np.cos(roll)]])
    Ry = np.array([[np.cos(pitch), 0, np.sin(pitch)],
                   [0, 1, 0],
                   [-np.sin(pitch), 0, np.cos(pitch)]])
    Rz = np.array([[np.cos(yaw), -np.sin(yaw), 0],
                   [np.sin(yaw), np.cos(yaw), 0],
                   [0, 0, 1]])
    R = np.dot(Rz, np.dot(Ry, Rx))
    return R

其中，theta 是一个包含三个欧拉角（roll，pitch，yaw）的元组。函数返回一个 3x3 的旋转矩阵 R。欧拉角顺序为 ZYX（即 yaw-pitch-roll 顺序）。