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(euler_angles):
    'Convert Euler angles to rotation matrix.
    euler_angles: [roll, pitch, yaw] in radians
    '
    roll, pitch, yaw = euler_angles
    cos_roll = np.cos(roll)
    sin_roll = np.sin(roll)
    cos_pitch = np.cos(pitch)
    sin_pitch = np.sin(pitch)
    cos_yaw = np.cos(yaw)
    sin_yaw = np.sin(yaw)

    rotation_matrix = np.array([
        [cos_yaw * cos_pitch, cos_yaw * sin_pitch * sin_roll - sin_yaw * cos_roll,
         cos_yaw * sin_pitch * cos_roll + sin_yaw * sin_roll],
        [sin_yaw * cos_pitch, sin_yaw * sin_pitch * sin_roll + cos_yaw * cos_roll,
         sin_yaw * sin_pitch * cos_roll - cos_yaw * sin_roll],
        [-sin_pitch, cos_pitch * sin_roll, cos_pitch * cos_roll]])

    return rotation_matrix

其中，欧拉角的定义为：

• Roll：绕x轴旋转，范围为[-π, π]。
• Pitch：绕y轴旋转，范围为[-π/2, π/2]。
• Yaw：绕z轴旋转，范围为[-π, π]。

旋转矩阵的定义为：

$$\begin{bmatrix}\r_{11} & r_{12} & r_{13} \r_{21} & r_{22} & r_{23} \r_{31} & r_{32} & r_{33}\end{bmatrix}$$

其中，$r_{ij}$表示第$i$行第$j$列的元素。